Tilt-Adaptive Robot Heading Control on Inclined Surfaces
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Solution Overview
Problem
Moving robots tend to slip on inclined surfaces, making it difficult to maintain a target travel route and requiring a control method that adapts to various movement motions on such surfaces.
Innovation Solution
A moving robot equipped with a tilt information acquisition unit and a controller that adjusts the heading direction based on surface inclination, using different driving methods for horizontal and inclined surfaces to maintain proximity to the target route and prevent slipping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot travels on an inclined surface using conventional control methods, then it can move forward, but it slips in the downward inclination direction and deviates from the target travel route
Solution Approach 1:
The controller adjusts the heading direction parameter based on tilt information from the tilt information acquisition unit. When an upward inclination is detected, the controller modifies the heading direction to compensate for the expected slip in the downward direction, thereby maintaining accurate route following on inclined surfaces
Solution Approach 2:
The system continuously acquires tilt information from the tilt information acquisition unit and uses this feedback to dynamically adjust the heading direction. This closed-loop control enables the robot to adapt to varying inclination angles and maintain stable travel along the target route
2Adaptability or versatility
If the robot uses a fixed driving method for all surfaces, then the control system is simple, but it cannot adapt to inclined surfaces and maintains accurate route
Solution Approach 1:
The control system dynamically adjusts the heading direction based on real-time tilt information. The controller modifies driving parameters adaptively when inclination is detected, enabling the robot to handle both horizontal and inclined surfaces with a single versatile control system
Solution Approach 2:
The tilt information acquisition unit and controller work together to provide a universal control solution that handles multiple surface conditions (horizontal and inclined). The system automatically selects appropriate control strategies based on the detected surface inclination, eliminating the need for separate control systems for different surfaces
3Measurement precision
If the robot does not adjust heading direction on inclined surfaces, then the control system is simple, but it deviates from the target route; if it adjusts heading direction, then route accuracy improves, but control complexity increases
Solution Approach 1:
The controller modifies the heading direction parameter based on tilt information. By changing this single control parameter in response to detected inclination, the system achieves accurate position control on inclined surfaces without requiring complex control algorithms
Solution Approach 2:
The system uses tilt information as feedback to continuously adjust the heading direction. This feedback mechanism enables precise position control by compensating for inclination-induced deviations, achieving high measurement precision with a relatively simple control structure
Data Source
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AI summary
Disclosed is a moving robot including: a body defining an exterior; a travelling 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 unit 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 travelling force (Fh) preset to be applied by the travelling unit to the body, to be a direction between the target movement direction and the upward inclination direction based on the tilt information.