Mobile Robot Slip Detection via Gyrosensor Feedback

The patent introduces a gyrosensor as an intermediary device to measure the robot's actual rotation angle independently of wheel rotation. This intermediary measurement method provides a reference that is not affected by wheel slips, allowing the system to detect and correct position detection errors caused by slips between the projection and the robot body.

The patent implements a feedback mechanism by continuously comparing the rotation angle calculated from wheel rotation with the rotation angle measured by the gyrosensor. When a discrepancy is detected (indicating a slip), the system generates correction information to compensate for the position detection error, thereby maintaining accurate position detection despite slip conditions.

The gyrosensor serves as an intermediary that provides accurate rotation angle measurement independent of wheel rotation. When the robot traverses narrow spaces below furniture where slips are likely to occur, the gyrosensor continues to provide reliable rotation data, enabling the system to detect slips and correct position errors, thus maintaining reliable navigation in these challenging environments.

The patent replaces reliance on the mechanical wheel-rotation-based speed and position detection system with a sensor-based (gyrosensor) measurement system. This substitution allows the robot to accurately detect its actual orientation and position even when mechanical wheel rotation does not correspond to actual movement, which is critical when operating in narrow spaces under furniture.

The gyrosensor is introduced as an intermediary measurement device that provides independent rotation angle data. This additional sensor enables slip detection by comparing its measurements with wheel rotation data, preventing accumulated position errors without requiring complex sensor systems or algorithms.

The patent implements a feedback mechanism where the gyrosensor's rotation angle measurements are continuously compared with calculations from wheel rotation sensors. This feedback loop enables the system to detect slips and generate correction information, maintaining position detection precision over time without requiring overly complex systems.