Caster-Aware Drive Planning for Stable Mobile Robot Movement
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Mobile robots with casters experience instability and particulate generation due to unpredictable caster reorientation during movement, especially when carrying heavy loads or in sensitive environments.
Innovation Solution
A method and system for planning drive instructions that account for caster orientation and reorientation, using a digital data processing system to tailor instructions to minimize caster reorientation and reduce resistance and particulate generation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the device moves with casters that reorient during motion, then the device can navigate and adapt to different directions, but instability and particulate generation occur due to unpredictable caster reorientation
Solution Approach 1:
The system performs preliminary action by planning the complete drive sequence in advance, considering the initial caster orientation and predicting the expected orientation at the end of movement. This allows the controller to pre-determine the optimal drive instructions that will achieve the desired movement while maintaining caster stability and minimizing particulate generation.
Solution Approach 2:
The system applies dynamics by making the drive instructions adaptive based on caster orientation. The controller adjusts the drive sequence dynamically according to the initial caster orientation and predicted final orientation, allowing the navigation system to adapt to different starting conditions while maintaining movement stability.
2Productivity
If drive instructions are planned without considering caster orientation, then the device can follow simple trajectories, but resistance to movement increases due to unpredictable caster reorientation
Solution Approach 1:
The system implements feedback by using the initial caster orientation as input to the planning process and adjusting the drive instructions based on the expected final orientation. This feedback loop allows the system to optimize the drive sequence to minimize resistance to movement while achieving the desired trajectory.
Solution Approach 2:
The system applies parameter changes by modifying the drive instructions based on caster orientation parameters. The controller changes the drive sequence parameters (speed, direction, acceleration) according to the initial and expected caster orientations, thereby reducing resistance to movement and improving movement efficiency.
3Device complexity
If the device uses standard drive sequences, then the control system is simple, but particulate generation increases in sensitive environments due to caster instability
Solution Approach 1:
The system performs preliminary action by calculating the expected caster orientation at the end of movement before executing the drive sequence. This advance planning allows the controller to select drive instructions that will maintain caster stability throughout the movement, thereby reducing particulate generation in sensitive environments without significantly increasing control system complexity.
Data Source
AI summary
Planning driving sequences of mobile robots and other devices. In one aspect, a method includes receiving an instruction for movement of a device along a supporting surface. The device includes at least one drive wheel and at least one caster that is rotatable about a generally vertical axis. During motion, the caster is configured to reorient so that an swivel joint of the caster to the device leads a wheel of the caster. The method also includes planning a drive instruction for the device to implement the instruction for movement based on an orientation or expected orientation of the at least one caster upon beginning of the movement. The drive instruction is tailored to the drive wheel and the caster of the device and configured to limit reorientation of the caster during motion in accordance with the drive instruction.