Cart Robot Surface-Change Control for Slip and Collision Prevention
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Solution Overview
Problem
Cart robots face challenges in navigating uneven travel surfaces, such as slopes and moving walkways, which can cause slipping and collisions, and require user intervention to manage these changes efficiently and safely.
Innovation Solution
The cart robot employs an IMU sensor and obstacle sensors to detect changes in the travel surface, adjusting electric energy to the moving parts based on sensed distances and tilt angles, locking the motor when necessary to prevent slipping and ensuring smooth navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the cart robot moves autonomously on uneven travel surfaces, then productivity is improved, but reliability deteriorates due to slipping and collisions
Solution Approach 1:
The cart robot performs preliminary detection of travel surface changes using IMU sensors and obstacle sensors before actually encountering the problem. The controller predicts upcoming surface changes and adjusts motor output in advance, preventing slipping and collisions before they occur. This is evident in the patent where the controller increases electric energy to moving parts when detecting entry to or exit from moving walkways, proactively compensating for potential instability.
Solution Approach 2:
The system continuously monitors travel surface conditions through IMU and obstacle sensors, creating a feedback loop that allows the controller to adjust motor output in real-time. The controller receives feedback about tilt angles, obstacle distances, and surface changes, then dynamically modifies electric energy supply to maintain reliable movement. This closed-loop control ensures the cart adapts to changing conditions while maintaining safety.
2Reliability
If the cart robot increases motor power to prevent slipping, then reliability is improved, but use of energy worsens
Solution Approach 1:
The cart robot dynamically adjusts motor power based on real-time detection of travel surface conditions rather than maintaining constant high power. The controller modulates electric energy supply to the moving parts according to the detected tilt angle and surface type, increasing power only when necessary to prevent slipping on slopes or moving walkways, and reducing power on stable surfaces. This dynamic adjustment optimizes the balance between slip prevention and energy consumption.
Solution Approach 2:
The system changes operational parameters (electric energy magnitude to moving parts) based on detected travel surface parameters (tilt angle, surface type). When the IMU sensor detects a slope or moving walkway, the controller changes the electric energy parameter to prevent slipping. This parameter-based control allows the system to maintain reliability only when needed, reducing overall energy consumption compared to constant high-power operation.
3Reliability
If the cart robot stops at surface change points to prevent collisions, then reliability is improved, but productivity deteriorates
Solution Approach 1:
The cart robot performs preliminary detection of surface change points using IMU and obstacle sensors, then takes preventive action by adjusting motor output before reaching the collision risk zone. The controller increases electric energy to moving parts when detecting entry to or exit from moving walkways, enabling the cart to maintain movement continuity while avoiding collisions. This eliminates the need to stop, as the cart proactively compensates for potential collision risks through enhanced motor control.
Solution Approach 2:
Instead of stopping at surface change points, the cart robot rushes through these transitions by increasing motor power to maintain momentum and control. The controller detects surface changes and supplies additional electric energy to the moving parts, allowing the cart to quickly and safely traverse the transition zone without stopping. This approach maintains movement continuity while ensuring collision avoidance through active control.
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
This solution prevents slipping on slopes and moving walkways, reduces collisions between cart robots, and enhances safety and efficiency by allowing the cart to move autonomously or under user control without manual intervention.
Implementation Method 1
when an IMU sensor senses a change in a travel surface
Implementation Method 2
an obstacle sensor may sense a distance from an installed object
Implementation Method 3
a force sensed by a force sensor
Data Source
AI summary
The present disclosure relates to a method of controlling movement of a cart in response to a change in a travel surface using artificial intelligence and a cart implementing the same, and in a cart robot of one embodiment, an IMU sensor senses a change in a travel surface, and an obstacle sensor senses a distance from an installed object placed in a direction of an advance of the cart robot, to control a moving part of the cart robot.