Autonomous Forklift Control on Piecewise Flat Floor Transitions
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Solution Overview
Problem
Autonomous mobile robots face challenges when operating on uneven or piecewise flat floors, as they risk hitting the floor with the forks or the load striking the ceiling, especially in environments with transitions between floor segments at different angles.
Innovation Solution
The autonomous mobile robot dynamically adjusts the lift and/or tilt of its forks based on a model of the environment or real-time sensor feedback, allowing it to navigate safely across multiple piecewise flat floor segments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the autonomous mobile robot operates with fixed fork operation parameters on piecewise flat floors, then the robot structure and control system remain simple, but the robot risks hitting the floor with the forks or the load striking the ceiling when transitioning between floor segments at different angles
Solution Approach 1:
The patent implements dynamic adjustment of fork operation parameters (lift height, tilt angle) based on the robot's position and orientation on piecewise flat floors. The control system continuously monitors floor geometry and automatically modifies fork parameters to maintain safe clearance from the floor and ceiling, transforming the static control system into a dynamic one that adapts to changing environmental conditions
Solution Approach 2:
The system employs feedback mechanisms where sensors detect the robot's position, floor angle, and fork orientation, and this information is fed back to the control system which then adjusts the fork operation parameters accordingly. This closed-loop control ensures that the robot maintains safe clearance while navigating transitions between floor segments with different angles
2Measurement precision
If the autonomous mobile robot uses 2D environment map for navigation, then the navigation system remains simple, but the robot cannot accurately determine its position and orientation on piecewise flat floors with varying angles
Solution Approach 1:
The patent transitions from 2D environment mapping to 3D spatial awareness by incorporating sensors that measure floor angle, robot pitch, and fork orientation. This dimensional expansion allows the system to accurately represent and navigate piecewise flat floors with varying angles, providing the necessary measurement precision for safe operation on complex terrain
Solution Approach 2:
The system introduces intermediary computational models that translate sensor data about floor geometry and robot pose into accurate position and orientation information. These models act as intermediaries between the physical sensors and the navigation system, enabling precise determination of the robot's state on piecewise flat floors without requiring complete redesign of the navigation architecture
3Adaptability or versatility
If the autonomous mobile robot maintains fixed fork height and tilt, then the operation parameters remain simple to control, but the robot cannot maintain clearance from the floor or ceiling when transitioning between floor segments
Solution Approach 1:
The control system implements self-service by automatically adjusting fork operation parameters based on real-time detection of floor geometry and robot pose. The system monitors its own state and the environment, then autonomously modifies lift height and tilt angle to maintain safe clearance, eliminating the need for manual intervention while adapting to varying floor conditions
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 enables the autonomous mobile robot to maintain clearance from both the floor and overhead obstacles, ensuring safe and efficient navigation in complex environments.
Implementation Method 1
The sensors includes one or more of a light detection and ranging (LIDAR) sensor
Data Source
AI summary
A method implemented at an autonomous mobile robot equipped with a fork to carry a pallet. The robot transitions between a first and second piecewise flat floor segments with differing geometries. The robot uses sensor data from sensors such as LIDAR, stereo cameras, GPS, and ultrasound sensors to determine the transition between the first and second piecewise flat floor segments. The fork operates based on parameters that meet reference constraints. When the robot detects that a second floor geometry would cause these parameters to no longer meet the reference constraints, the robot determines new parameters that will satisfy the reference constraints. Control signals are then sent to adjust the fork's operation as the robot transitions to the second floor segment.