Articulated Robotic Tool Slip Detection for Surface Wear Control
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Solution Overview
Problem
Articulated robotic tools, such as lawn mowers, face excessive wear on operating surfaces due to wheel slip, which existing technologies fail to detect and prevent effectively.
Innovation Solution
A slip detection arrangement that records driving inputs and movement parameters, compares estimated and actual movement to detect slip, and adjusts driving to prevent further slip, using data from IMUs, GPS, and other sensors to ensure precise detection and reduction of wheel slip across both wheel sets.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robotic tool operates with high driving force to maintain productivity, then productivity is improved, but wheel slip increases causing surface wear
Solution Approach 1:
The slip detection arrangement continuously monitors driving inputs and movement parameters, compares estimated versus actual movement, and provides feedback to the control unit. When slip is detected, the control unit adjusts motor commands in real-time to eliminate slip while maintaining driving force, thus preserving productivity without causing surface wear
Solution Approach 2:
The system dynamically adjusts motor commands based on real-time slip detection. The control unit modifies driving force parameters on-the-fly by comparing estimated movement (from driving input) with actual movement (from movement parameters), enabling the robotic tool to adapt its driving characteristics to prevent slip while maintaining productivity
2Object-affected harmful factors
If slip detection and elimination procedures are implemented, then surface wear is reduced, but device complexity increases
Solution Approach 1:
The control unit serves multiple functions: it controls motor operation, processes slip detection algorithms, compares estimated and actual movement, and executes slip elimination procedures. By making the control unit multi-functional rather than adding separate dedicated hardware for each function, the system reduces overall device complexity while still implementing comprehensive slip detection and prevention
Data Source
AI summary
The present disclosure relates to an articulated self-propelled robotic tool 1 with first and second platforms 3, 7, each comprising a wheel set 5, 9 driven by motors. A link arrangement connects the first platform to the second platform at a turning axis 11. A driving error is determined by recording a driving input to the motors and a resulting movement parameter, comparing the resulting movement with an estimated resulting movement which is based on the driving input. Slip is detected using the driving error.