Inventory Robot Speed Control for Mast Resonance Suppression
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Inventory robots experience resonance and oscillation issues due to the mast's oscillation frequency matching the movable platform's frequency, leading to potential tilting and falling, which poses safety hazards and risks damage to warehouse shelving and goods.
Innovation Solution
A method for controlling a robotic vehicle that includes a ground platform, a longitudinal body with sensors along its length, and a processor. The method involves receiving signals from sensors indicative of oscillating movement, comparing these signals to reference signals, and modifying the vehicle's speed to reduce oscillations, thereby preventing resonance and tilting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the mast is made larger to reach items on top shelves, then the robot's reaching capability is improved, but the mast oscillates during movement causing resonance and potential tipping
Solution Approach 1:
The patent applies vibration sensors to detect oscillations in the longitudinal body and uses speed modification to counteract resonance. The system monitors vibration frequencies and adjusts vehicle speed to avoid matching the natural frequency of the mast, thereby preventing resonant amplification that would cause excessive oscillations and potential tipping.
Solution Approach 2:
The patent changes the operating parameter (vehicle speed) dynamically based on detected oscillation levels. When oscillations are detected, the system modifies the speed parameter to reduce the amplitude of vibrations, thereby maintaining stability while allowing the extended mast to function safely.
2Ease of operation
If the movable platform is made smaller for easy movement, then the robot's maneuverability is improved, but the mast oscillation frequency matches the platform frequency causing resonance
Solution Approach 1:
The patent implements a feedback control system where vibration sensors continuously monitor oscillations in the longitudinal body, and the processor uses this feedback to dynamically adjust the vehicle's speed. This closed-loop control prevents resonance by modifying operation based on real-time vibration data, ensuring safety while maintaining maneuverability.
3Productivity
If the robot operates at higher speeds for productivity, then the warehouse efficiency is improved, but oscillations increase leading to resonance and potential tipping
Solution Approach 1:
The patent makes the vehicle speed dynamic rather than fixed. The system continuously monitors oscillation levels and adjusts speed in real-time, allowing high-speed operation when conditions are safe and reducing speed when oscillations approach resonant frequencies. This dynamic adjustment maintains both productivity and stability.
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
The solution effectively reduces oscillations and prevents resonance, ensuring the stability and safety of the inventory robot, thereby protecting both personnel and warehouse infrastructure.
Implementation Method 1
receiving a signal generated by the sensor indicative of oscillating movement of the longitudinal body during operation of the robotic vehicle
Implementation Method 2
the mast oscillates during movement of the robot. In some instances, the oscillation of the mast may reach the same frequency as the movable platform, reaching a resonance, which causes the oscillations of the mast to amplify
Data Source
AI summary
A robotic vehicle and a method for controlling a robotic vehicle are disclosed. The robotic vehicle including a ground platform movable on a ground surface, a longitudinal body extending from the ground platform, a sensor located along the longitudinal body, and a processor communicatively coupled to the sensor. The method includes receiving a signal generated by the sensor indicative of oscillating movement of the longitudinal body during operation of the robotic vehicle on the ground surface and receiving a reference signal representative of a normal operating state of the robotic vehicle. In response to the signal being outside a threshold interval from the reference signal: modifying a current speed of the robotic vehicle so as to reduce oscillating movement of the longitudinal body.