Autonomous Work Device Slip Control via Torque Adjustment
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Solution Overview
Problem
Autonomous working devices, such as lawnmowers, face challenges in efficiently managing slip behavior to prevent surface damage and maintain efficient operation on varying terrain conditions, as existing technologies do not effectively adapt drive motor torque and speed in response to slip parameters.
Innovation Solution
The implementation of an evaluation unit that monitors slip parameters of drive wheels, adjusts torque and speed of drive motors, and regulates variables like steering angle to maintain optimal slip levels, utilizing multiple sensor units for precise slip detection and control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If drive motor torque and speed are increased to improve propulsion efficiency, then productivity is improved, but slip increases causing surface damage
Solution Approach 1:
The system continuously monitors slip parameters through sensor units and feeds this information back to the evaluation unit, which automatically adjusts drive motor torque and speed to maintain optimal slip levels, preventing surface damage while maintaining productivity
Solution Approach 2:
The evaluation unit dynamically changes operational parameters (torque and speed) of the drive motors based on real-time slip conditions, adapting the system to varying terrain conditions to prevent harmful slip while maintaining efficient operation
2Object-affected harmful factors
If drive motor torque is reduced to decrease slip, then surface damage is minimized, but propulsion efficiency decreases
Solution Approach 1:
The system dynamically adjusts drive motor torque and speed based on real-time slip conditions rather than using fixed settings, allowing optimal propulsion efficiency to be maintained when slip is acceptable while preventing surface damage when slip exceeds thresholds
3Productivity
If slip parameters are monitored and controlled in real-time, then propulsion efficiency is optimized, but device complexity increases
Solution Approach 1:
The evaluation unit automatically processes slip parameter data and controls drive motor adjustments without requiring external intervention or complex manual control systems, enabling the system to self-optimize propulsion efficiency
Solution Approach 2:
The evaluation unit performs multiple functions including monitoring slip parameters, evaluating terrain conditions, controlling drive motor torque and speed, and preventing surface damage, consolidating these functions into a single integrated system rather than requiring separate dedicated systems for each function
Data Source
Figure 1~2
AI summary
The autonomous tool (10) has drive motors (12,14) and drive wheels (16,18). An evaluation unit (20) evaluates characteristic of a slippage of the drive wheel. The evaluation unit has a rotational speed sensor (28) and a torque sensor (32). The rotational speed sensor and the torque sensor evaluate rotational torque or rotational speed from the characteristic of the slippage. An independent claim is included for a method for operating autonomous tool.