Conveyance Robot Yaw Error Correction Near Obstacles
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Solution Overview
Problem
Conveyance robots experience control errors that cause carried items to interfere with obstacles when lifting and moving, due to deflection in the yawing direction, leading to potential collisions.
Innovation Solution
A conveyance system with an error obtaining unit to detect yawing direction control errors, a determining unit to assess interference with obstacles, and a correcting unit to adjust the control target direction to prevent interference by correcting the control target direction when interference is detected.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the conveyance robot approaches the carried item in a predetermined control target direction to convey the item, then the conveying operation can be performed efficiently, but a control error may cause the direction of movement to deflect in the yawing direction, leading to interference with obstacles
Solution Approach 1:
The system performs preliminary detection of control errors in the yawing direction before the conveyance robot approaches the carried item. By obtaining error information in advance and correcting the control target direction beforehand, the system prevents interference with obstacles while maintaining efficient conveying operations.
Solution Approach 2:
The system implements a feedback mechanism where the control error is detected during the approach phase, the determining unit assesses whether interference will occur, and the correcting unit adjusts the control target direction based on this feedback. This closed-loop control ensures accurate movement while preventing collisions with obstacles.
2Manufacturing precision
If the control target direction is corrected to reduce control error and prevent interference, then the movement accuracy improves, but the control process becomes more complex
Solution Approach 1:
The system corrects the control target direction by adjusting directional parameters based on detected control errors. The correcting unit modifies the control target direction in the yawing direction to compensate for identified errors, achieving precise movement control through parameter adjustment without requiring complex hardware modifications.
Data Source
AI summary
A conveyance system includes a conveyance robot that conveys a carried item adjacent to an obstacle, by approaching the carried item in a predetermined control target direction, getting into under the carried item, and moving when the carried item is lifted by an elevating device. The conveyance system obtains information on a control error indicating deflection in a yawing direction of a moving direction of the conveyance robot relative to the control target direction, when the conveyance robot gets into under the carried item, determines whether the carried item interferes with the obstacle, when the conveyance robot starts moving in the condition where the carried item is lifted, based on the obtained control error information, and corrects the control target direction used when the conveyance robot gets into under the carried item, to reduce the control error, when determining that the carried item interferes with the obstacle.