Loaded Robot Obstacle Climbing with Rollover-Aware Motion Control
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robots face a risk of rollover when moving with a loaded object due to changes in their center of gravity while bypassing or climbing obstacles, necessitating a method to determine a driving route that considers this factor.
Innovation Solution
A robot system that includes sensors to detect obstacles and load distribution, a processor to calculate entrance angles and velocities to maintain a rollover index within a preset range, and a driving apparatus to execute these controls, simulating routes to prevent rollover during obstacle traversal.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot moves while loading an object to bypass or climb an obstacle, then the robot's mobility and obstacle-crossing capability are improved, but the center of gravity shifts causing a rollover risk
Solution Approach 1:
The system calculates and determines the optimal entrance angle and entrance velocity before the robot actually climbs the obstacle. This preliminary calculation of trajectory parameters ensures that the robot approaches the obstacle with pre-computed safe parameters that maintain center of gravity within stable ranges, preventing rollover before it can occur
Solution Approach 2:
The system dynamically adjusts critical motion parameters including entrance angle, entrance velocity, and trajectory based on real-time detection of obstacle characteristics and current load state. By changing these parameters optimally, the robot adapts its motion to maintain stability while successfully crossing obstacles
2Adaptability or versatility
If the robot climbs an obstacle with a loaded object, then the obstacle-crossing capability is improved, but the motion control complexity increases due to center of gravity changes
Solution Approach 1:
The system replaces complex real-time mechanical balance control with computational methods. A processor calculates the optimal trajectory, entrance angle, and velocity using algorithms that simulate and predict center of gravity behavior, substituting complex mechanical control adjustments with intelligent computational planning
Solution Approach 2:
The control system performs preliminary calculation of the complete climbing trajectory and parameters before execution. By pre-computing the optimal path and motion parameters based on detected obstacle characteristics, the system simplifies real-time control execution while maintaining safety
Data Source
AI summary
A method for controlling a robot includes: controlling a driving apparatus to move the robot to a preset route; detecting an obstacle on the preset route; determining an entrance angle and an entrance velocity with which a rollover index of the robot is maintained within a preset range during climbing the obstacle; and controlling the driving apparatus to climb the obstacle with the determined entrance angle and the determined entrance velocity.