Coupled Robot Angle Estimation for Stable Backward Driving
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Solution Overview
Problem
Existing systems face challenges in accurately determining the angle between a driving robot and a driven robot, particularly when moving backward, leading to potential collisions due to mechanical connections that can bend or collide.
Innovation Solution
A system and method utilizing sensors on a driving robot to obtain data and images of a coupled driven robot, processing these to determine relative angles, and controlling the driving robot's movement based on these angles, including shape matching and depth mapping to ensure accurate alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the driving robot pushes the driven robot backward, then the driven robot can be moved backward, but the mechanical connection may bend or collide causing instability
Solution Approach 1:
The system performs preliminary angle detection and calculation before executing backward movement. The driving robot detects the initial angle with the driven robot using sensors, calculates the required steering angle in advance, and adjusts the driven robot's posture beforehand to prevent mechanical connection bending during the actual backward movement.
Solution Approach 2:
The system continuously monitors the relative angle between the driving robot and driven robot during movement using sensors. Based on the detected angle changes, the control unit dynamically adjusts the driven robot's steering angle to maintain proper alignment and prevent mechanical connection instability, creating a closed-loop control system.
2Measurement precision
If sensors are added to the driven robot to improve angle detection accuracy, then measurement precision improves, but device complexity increases
Solution Approach 1:
The driving robot's existing sensors are designed to serve multiple functions: they detect both the driving robot's own position and orientation, and simultaneously detect the driven robot's position and calculate the relative angle between the two robots. This multi-functional approach eliminates the need for separate sensors on the driven robot.
Solution Approach 2:
The driving robot acts as an intermediary that indirectly measures the driven robot's angle. Instead of placing sensors directly on the driven robot, the driving robot's sensors detect the driven robot's position and the control unit calculates the relative angle through coordinate transformation and geometric relationships, using the driving robot as a measurement mediator.
Data Source
AI summary
A system for controlling driving of a first robot is introduced. The system comprises the first robot configured to drive a second robot coupled to its rear side. The first robot's rear side is mechanically coupled to the second robot. A first sensor gathers sensor data for the second robot, and a second sensor captures a rear view image from the first robot, containing an image of the second robot. A processor determines a first angle between the robots based on sensor data, a second angle from the rear view image, and a third angle based on the first and second angles. The processor outputs a signal associated with the third angle and controls the first robot's driving based on this signal.