Adaptive Robot Suspension Hardness Control for Uneven Ground
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Solution Overview
Problem
The existing robots in intelligent warehousing systems suffer from poor operating stability due to their spring-loaded shock absorbing suspensions, which cannot be adjusted based on varying operating conditions, leading to issues with uneven and slippery ground, and varying load states.
Innovation Solution
A robot equipped with a detection system and a controller that adjusts the suspension hardness based on operating information, including ground and pose information, using sensors like three-dimensional cameras, laser radars, pressure sensors, and inertial measurement units to adapt the suspension system to different conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a spring-loaded shock absorbing suspension is used in the robot, then the robot can absorb shocks and vibrations during operation, but the suspension hardness cannot be adjusted after being set, resulting in poor operating stability on different ground conditions
Solution Approach 1:
The patent applies the dynamics principle by transforming the static spring-loaded suspension into a dynamic adjustable suspension system. The suspension hardness can be dynamically adjusted based on real-time detection of ground conditions (uneven ground, slippery ground) and robot pose information (pressure, swing amplitude). This allows the suspension system to adapt to varying operating conditions, resolving the contradiction between reliability and adaptability.
Solution Approach 2:
The patent implements parameter changes by modifying the suspension hardness parameter according to different operating conditions. The controller adjusts the suspension hardness parameter based on detection system input, changing it from a fixed value to a variable parameter that optimizes performance for each specific condition, thereby improving both operating stability and adaptability.
2Adaptability or versatility
If multiple detection sensors are added to detect ground and pose information, then the suspension system can be adjusted based on operating conditions, but the device complexity increases
Solution Approach 1:
The patent applies universality by designing a detection system where sensors serve multiple functions. The same detection system detects both ground information (uneven ground, slippery ground) and pose information (pressure, swing amplitude), which are then collectively used to control the suspension adjustment. This multi-functionality reduces the need for separate specialized sensors for each parameter.
Data Source
AI summary
The present disclosure provides a robot and an adjustment method for a suspension system of a robot. The robot includes a robot body, a detection system, and a controller. The robot body includes a mobile chassis. The mobile chassis includes a suspension system. The detection system and the suspension system are electrically connected to the controller. The detection system is configured to detect operating information of the robot body. The controller is configured to control the suspension system to adjust a suspension hardness of the suspension system based on the operating information. The operating information includes at least one of ground information during operation of the robot body and pose information of the robot body.