Autonomous Mobile Robot LRF Scanning Control
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Solution Overview
Problem
Conventional autonomous mobile systems face challenges in avoiding objects while increasing travel speed, as the limited oscillation range of distance detection units may not suffice to prevent contact.
Innovation Solution
The autonomous mobile system incorporates a distance detection section that rotates around a vertical axis, with a scanning control unit adjusting the scanning range and speed based on the travel speed to ensure object avoidance, even on curved paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the travel speed of the mobile body is increased, then productivity is improved, but the mobile body may come into contact with objects even if the oscillation range of the distance detection unit is limited
Solution Approach 1:
The patent applies dynamics by making the oscillation range of the distance detection unit adjustable rather than fixed. The control unit dynamically changes the oscillation range based on the current travel speed of the mobile body. When travel speed increases, the oscillation range is automatically enlarged to maintain adequate detection coverage, thereby resolving the contradiction between high-speed travel and reliable object avoidance.
2Reliability
If the oscillation range of the distance detection unit is enlarged to detect objects at higher speeds, then object avoidance capability is improved, but the detection precision may be reduced due to wider scanning coverage
Solution Approach 1:
The system dynamically adjusts the oscillation range based on travel speed requirements. At high speeds, a larger oscillation range is necessary to detect objects in time, while at lower speeds, the oscillation range is reduced to maintain detection precision. This dynamic adaptation resolves the contradiction between coverage area and measurement precision.
Solution Approach 2:
The patent changes the parameter of oscillation range according to travel speed conditions. By varying this parameter dynamically, the system optimizes both detection coverage and precision for different operational scenarios, resolving the trade-off between enlarged detection range and maintained precision.
3Measurement precision
If the oscillation range is limited to improve detection precision, then measurement precision is improved, but the mobile body cannot detect objects in wider areas at higher travel speeds
Solution Approach 1:
The system employs dynamic adjustment of the oscillation range that responds to travel speed changes. When the mobile body travels at high speed, the oscillation range is automatically enlarged to cover wider areas, enabling timely object detection. When traveling at low speed, the oscillation range is reduced to maintain precision. This dynamic behavior resolves the contradiction between detection precision and travel speed capability.
Data Source
AI summary
Robot 1 includes an upper base body 10, and a control section 13 provided inside the upper base body 10. The control section 13 causes measurement section 205c to rotate in a left-right direction around yaw axis, by driving each drive section 205b of two LRFs 205. When passage width necessary for the robot 1 to pass through is W, the control section 13 causes each measurement section 205c to rotate in a range (W/2), by driving each drive section 205b of the two LRFs 205. LRF scanning speed/range calculation section 71 calculates rotation angle θswing and a rotation speed Vswing of the measurement section 205c. The control section 13 drives the drive sections 205b so as to cause the measurement section 205c to rotate at the rotation angle θswing and the rotation speed Vswing calculated by the LRF scanning speed/range calculation section 71.