Two-Wheeled Robot Balance Control Using Ground Distance Sensing
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Solution Overview
Problem
Unmanned delivery robots with a two-wheeled structure face challenges in maintaining balance and require adaptive control gains based on driving situations, which existing technologies do not adequately address.
Innovation Solution
A robot control apparatus and method that utilize at least one first sensor on the front and one second sensor on the rear of the robot to sense ground distances, allowing a controller to determine the driving environment and automatically adjust the control gain for balance control without manual intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If different control gains are applied for different driving situations, then balance control performance is improved, but manual adjustment complexity increases
Solution Approach 1:
The robot control apparatus automatically detects the driving environment using distance sensors and autonomously adjusts the control gain without requiring manual intervention. The controller monitors ground distance measurements and selects appropriate control gains from predetermined values based on the detected environment, enabling the system to self-regulate balance control parameters.
Solution Approach 2:
The control gain parameter is dynamically changed based on the detected driving environment. The system maintains multiple predetermined control gain values and selects the appropriate one according to the ground distance measurements, allowing the balance control parameter to adapt to different situations such as flat ground, slopes, or obstacles.
2Measurement precision
If complex sensors like lidar, camera, or radar are used to recognize driving environment, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent employs simple and inexpensive distance sensors instead of complex sensing systems like lidar, camera, or radar. These basic sensors provide sufficient measurement capability for detecting ground distance and identifying driving environments, reducing system complexity while maintaining adequate functionality for balance control applications.
Solution Approach 2:
The invention extracts only the essential measurement function needed for balance control - ground distance detection - and implements it using simple distance sensors. Rather than using complex multi-functional sensors, the system isolates and performs only the necessary measurement task with appropriately simple components.
3Ease of operation
If automatic control gain adjustment is implemented, then ease of operation is improved, but control system complexity increases
Solution Approach 1:
The control system dynamically adjusts the control gain based on real-time distance sensor measurements. The controller continuously monitors the driving environment and automatically selects appropriate control gains from predetermined values, enabling adaptive balance control without requiring complex algorithms or extensive computational resources.
Solution Approach 2:
The system implements a feedback mechanism where distance sensors continuously measure ground distance and provide information to the controller. Based on this feedback, the controller automatically adjusts the control gain to maintain optimal balance control performance across different driving situations.
Data Source
AI summary
In an embodiment a robot control apparatus includes at least one first sensor provided on a front of a head part of a robot including a wheel part and the head part connected to an upper portion of the wheel part, the first sensor being configured to sense a first distance from a ground, at least one second sensor provided on a rear of the head part and configured to sense a second distance from the ground and a controller configured to determine a driving environment of the robot based on at least one of the first distance or the second distance and adjust a control gain related to a balance control of the robot based on the determined driving environment.