Robot Wheel Slip Detection Using Articulated Wheel-Angle Verification
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Solution Overview
Problem
Existing odometry systems for determining the position of mobile robots suffer from error accumulation due to wheel slip, which is influenced by factors like wheel diameter inaccuracies, tire-ground friction, and wear, necessitating frequent recalibration and affecting the reliability of autonomous navigation.
Innovation Solution
A method using multiple wheel angle sensors and an electronic computing device to determine wheel slip by verifying wheel angles relative to each other, incorporating redundant information from joint articulation and wheel rotation speeds, and employing techniques like Kalman filters or machine learning to correct for slip, thereby enhancing position determination accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If odometry is used to determine position from wheel revolutions, then measurement rate is high, but errors accumulate over time due to wheel slip and wear
Solution Approach 1:
The system uses multiple wheel angle sensors to continuously monitor wheel positions and compares actual wheel angles with expected angles based on robot motion. This feedback mechanism detects wheel slip in real-time and enables correction of position determination errors, resolving the contradiction between high measurement rate and accumulated errors.
Solution Approach 2:
The patent replaces reliance on mechanical wheel measurements alone with an integrated system that uses sensor data from multiple wheels and computational algorithms to detect and correct for mechanical imperfections like wheel slip and wear, thereby maintaining high measurement rates while improving reliability.
2Reliability
If wheel slip is not corrected, then position determination becomes unreliable, but frequent recalibration increases maintenance time
Solution Approach 1:
The system performs self-calibration by using data from multiple wheel angle sensors to automatically detect wheel slip and correct position determination errors in real-time. This self-service capability eliminates the need for frequent manual recalibration, maintaining high reliability without time loss to maintenance.
Solution Approach 2:
The patent implements continuous monitoring and correction of wheel slip through multiple sensors and real-time computation, ensuring uninterrupted accurate position determination. This continuous operation prevents error accumulation that would otherwise require periodic recalibration, thereby eliminating maintenance time loss.
3Measurement precision
If multiple wheel angle sensors are used to detect wheel slip, then position determination accuracy improves, but device complexity increases
Solution Approach 1:
The multiple wheel angle sensors serve multiple functions: they monitor individual wheel positions, detect wheel slip through comparison of expected versus actual angles, and provide data for both real-time correction and long-term wear compensation. This multi-functionality justifies the added sensors by eliminating the need for separate calibration systems.
Solution Approach 2:
The patent combines the functions of multiple wheel angle sensors with the robot's existing position determination system and control algorithms into an integrated wheel slip detection and correction system. This merging approach processes sensor data through computational algorithms that leverage the robot's known geometry and joint relationships, reducing overall system complexity compared to separate dedicated systems.
Data Source
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AI summary
The invention relates to a method for determining wheel slip of a robot assembly (10), comprising the steps of: detecting a first wheel angle of a first wheel (22) of a first robot part (12) of the robot assembly (10) by means of a first wheel angle sensor (26); detecting a second wheel angle of a second wheel (24) of the first robot part (12) by means of a second wheel angle sensor (28); detecting a third wheel angle of a third wheel (30) of a second robot part (16) of the robot assembly (10) by means of a third wheel angle sensor (32), wherein the first robot part (12) and the second robot part (16) are connected to one another via a joint (14); detecting a fourth wheel angle of a fourth wheel (34) of the second robot part (16) by means of a fourth wheel angle sensor (36); transmitting the detected wheel angles to an electronic computing device (38) of the position-determining device (42);and determining wheel slip on one of the four wheels (22, 24, 30, 34) by verifying the detected wheel angles. Furthermore, the invention relates to a computer program product, a computer-readable storage medium, and a position-determining device (42).