Warehouse Robot Rotation Synchronization to Prevent Shelf Sway
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Solution Overview
Problem
Warehouse-transport robots experience shelf swaying during rotation, leading to potential cargo loss due to inadequate synchronization between the robot chassis and rotation mechanisms.
Innovation Solution
A method and system for synchronizing the rotation of a robot chassis and rotation mechanism, where the chassis controller sends a synchronous rotation instruction to the rotation controller, controlling both motors to rotate at equal angular velocities but in opposite directions, ensuring the shelf remains stationary during rotation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the robot chassis rotates during operation, then the robot can change direction and improve mobility, but the shelf sways and cargo may fall due to insufficient synchronization between chassis and rotation mechanisms
Solution Approach 1:
The patent merges the control of the chassis motor and rotation motor into a unified synchronous control system. The chassis controller and rotation controller exchange synchronization instructions and angular velocity data, coordinating both motors to rotate at equal angular velocities in opposite directions. This combined control approach ensures the shelf remains stationary during rotation, preventing cargo instability while maintaining rotation speed.
Solution Approach 2:
The patent implements feedback mechanisms where the chassis controller determines the angular velocity of the chassis relative to the ground at predetermined periods and sends this information to the rotation controller. The rotation controller uses this feedback to adjust the rotation motor's angular velocity, ensuring it matches the chassis angular velocity. This closed-loop feedback system maintains synchronization and prevents shelf swaying during rotation operations.
2Ease of manufacture
If the robot uses separate controllers for chassis and rotation mechanisms, then the system can be modular and easier to manufacture, but synchronization between the two mechanisms becomes complex and difficult to coordinate
Solution Approach 1:
The patent introduces an intermediary communication mechanism between the chassis controller and rotation controller. They exchange synchronization instructions and angular velocity information through a standardized interface, allowing each controller to remain modular and independent while achieving coordinated operation. This intermediary information exchange simplifies the synchronization control complexity despite using separate controllers.
Solution Approach 2:
The chassis controller serves multiple functions: it controls the chassis motor, determines angular velocity relative to ground, sends synchronization instructions to the rotation controller, and receives angular velocity feedback. This multi-functional design reduces the need for additional dedicated components, maintaining ease of manufacture while managing synchronization complexity through a versatile control system.
Data Source
AI summary
Arobot controlling method, system and warehouse-transport robot, which relates to the field of robot control. The method comprises: receiving, by a chassis controller, an information synchronization instruction sent by a main controller; performing, by the chassis controller, information synchronization with a rotation controller according to the information synchronization instruction; sending, by the chassis controller, a synchronous rotation instruction to the rotation controller, and controlling a chassis motor to drive a robot chassis to rotate at a predetermined angular velocity relative to the ground; controlling, by the rotation controller, a rotation motor to drive a robot rotation mechanism to synchronously rotate at an angular velocity relative to the rotating the robot chassis according to the synchronous rotation instruction.