Moving Robot Heading Compensation on Inclined Surfaces
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Solution Overview
Problem
Existing moving robots struggle to maintain their target travel routes on inclined surfaces, often slipping and deviating from their intended paths due to the lack of effective compensation mechanisms for surface inclinations, which complicates navigation and increases the risk of collisions or damage.
Innovation Solution
The implementation of a compensation processing module within the moving robot that acquires tilt information and adjusts the heading direction of the traveling force to account for surface inclinations, allowing the robot to maintain proximity to its target route by activating specific movement compensation controls, such as straight and rotational movement compensation, and employing a special mode for direction converting motions on inclined surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the moving robot travels on an inclined surface without compensation control, then the robot can move freely on various surfaces, but the robot slips and deviates from the target route
Solution Approach 1:
The controller receives tilt information from the tilt information acquisition unit about the inclination of the travel surface, and uses this feedback to automatically adjust the heading direction of the traveling force. This closed-loop feedback mechanism enables the robot to compensate for inclination effects in real-time, maintaining route accuracy while traveling on inclined surfaces.
Solution Approach 2:
The controller changes the heading direction parameter based on the tilt information to compensate for inclination. By dynamically adjusting the heading direction according to the surface tilt angle, the robot counteracts the slipping effect and maintains accurate trajectory on inclined surfaces.
2Reliability
If the robot uses conventional travel control without inclination compensation, then the control system remains simple, but the robot fails to maintain target route on inclined surfaces
Solution Approach 1:
A tilt information acquisition unit provides real-time inclination data to the controller, creating a feedback loop that automatically adjusts travel parameters. This feedback mechanism improves route maintenance reliability without requiring complex manual intervention or overly complicated control systems.
Solution Approach 2:
The tilt information acquisition unit acts as an intermediary between the inclined surface environment and the control system. It provides processed tilt information that the controller can directly use to adjust the heading direction, simplifying the overall control architecture while improving reliability.
3Manufacturing precision
If the robot adjusts heading direction based on tilt information, then the robot maintains accurate route on inclined surfaces, but the control algorithm becomes more complex
Solution Approach 1:
The controller adjusts the heading direction parameter based on tilt information from the tilt information acquisition unit. This parameter adjustment approach maintains route accuracy by compensating for inclination effects through relatively simple mathematical calculations rather than complex control algorithms.
Solution Approach 2:
The tilt information acquisition unit acquires inclination data in advance during the travel process, allowing the controller to proactively adjust the heading direction before significant deviation occurs. This preliminary action approach simplifies the control algorithm by preventing rather than correcting large errors.
Data Source
AI summary
A moving robot includes: a body defining an exterior; a traveling unit configured to move the body against a travel surface; an operation unit disposed in the body and configured to perform a predetermined operation; a tilt information acquisition sensor configured to acquire tilt information on a tilt of the travel surface; and a controller configured to, when target movement direction being preset irrespective of an inclination of the travel surface crosses an upward inclination direction of the travel surface, control a heading direction, which is a direction of a traveling force (Fh) preset to be applied by the traveling unit to the body, to be a direction between the target movement direction and the upward inclination direction based on the tilt information.