Coordinated Vibration Damping Control for Autonomous Mobile Bodies
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Solution Overview
Problem
Existing autonomous mobile bodies, such as delivery robots, face challenges in effectively damping vibrations caused by traveling, which can affect the stability of both the traveling unit and the upper unit.
Innovation Solution
An autonomous mobile body with a traveling unit and an upper unit, where the upper unit includes a vibration damping mechanism, such as a pendulum mechanism, and is controlled by a second control unit in conjunction with a first control unit that manages the traveling unit. The control units acquire information on each other's motion states to synchronize their operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a vibration damping mechanism is added to the upper unit, then vibration damping performance is improved, but device complexity increases
Solution Approach 1:
The patent employs a vibration damping mechanism that utilizes mechanical vibration principles to counteract and dampen vibrations generated during traveling. The mechanism is designed to generate counter-vibrations that cancel out the harmful vibrations, thereby improving vibration damping performance while maintaining a relatively simple structural configuration.
Solution Approach 2:
The vibration damping mechanism acts as an intermediary between the traveling unit and the upper unit, absorbing and dampening vibrations before they can affect the upper unit. This mediator approach allows the upper unit to operate stably without requiring complex vibration isolation structures throughout the entire system.
2Ease of operation
If the vibration damping mechanism operates independently, then control simplicity is improved, but vibration damping effectiveness deteriorates
Solution Approach 1:
The patent implements a feedback control system where the vibration damping mechanism receives real-time information about the traveling unit's motion state and adjusts its damping action accordingly. The control unit monitors vibration levels and traveling conditions, then modulates the damping mechanism's operation to optimize vibration cancellation while maintaining simple control architecture.
Solution Approach 2:
The control functions for the traveling unit and the vibration damping mechanism are merged into a coordinated control system. The control unit simultaneously manages both the traveling motor and the vibration damping mechanism, allowing them to operate in conjunction with shared information about motion states, thereby achieving effective vibration damping without requiring completely separate control systems.
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 effective damping of vibrations during straight travel and turning, stabilizing both the traveling unit and the upper unit, and preventing interference between their motion states.
Implementation Method 1
an upper unit disposed at an upper portion of the traveling unit and including a vibration damping mechanism configured to damp a vibration caused by the straight traveling and the turning of the traveling unit
Data Source
AI summary
An autonomous mobile body includes: a traveling unit includes a drive wheel and a chassis and configured to travel straight forward and backward and turn left and right; an upper unit disposed at an upper portion of the traveling unit and including a vibration damping mechanism configured to damp a vibration caused by the straight traveling and the turning of the traveling unit; a first control unit configured to control the traveling unit; and a second control unit configured to control the upper unit. The first control unit and the second control unit acquire information indicating motion states of each other's units, and control the traveling unit and the upper unit such that the units operate in conjunction with each other based on the acquired information.