Serving Robot Collision Braking via Motor Current Monitoring

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Solution Overview

Problem

Conventional serving robot control algorithms face limitations in accurately detecting collisions, particularly in areas not covered by separate sensors, leading to frequent stopping issues and inadequate response to collisions in uncovered areas.

Innovation Solution

A method for collision detection braking control in serving robots, which involves acquiring sensitivity and braking time settings, determining collision detection reference values for each movement state, monitoring motor current values, and controlling the robot to brake when the current exceeds the reference value corresponding to the movement state.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If separate sensors (bumper switch sensors) are mounted on the outside of the robot for collision detection, then collision detection function is provided, but the detection is limited to only the area where sensors are mounted and frequent stopping occurs when sensors fail

Engineering Contradiction:

Improvecollision detection reliabilityVSAvoidsensor mounting complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The patent replaces mechanical bumper switch sensors with an electrical measurement system that monitors motor current values. The collision detection is achieved by detecting abnormal current consumption patterns of the drive motor during operation, eliminating the need for separate mechanical sensors mounted on the robot body.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The robot's drive motor serves dual purposes: propulsion and collision detection. The motor's own electrical characteristics (current consumption) are utilized to detect collisions, making the motor self-sufficient for both movement and safety detection functions without requiring additional dedicated sensors.

Inventive Principle:

Principle #25Self-service

2Measurement precision

If conventional sensor-based collision detection is used, then collision detection is possible, but it is difficult to detect dynamics such as sliding or external forces after collision

Engineering Contradiction:

Improvecollision detection precisionVSAvoiddynamic collision measurement difficulty

Core Design Contradiction:

Measurement precisionVSDifficulty of detecting and measuring

Solution Approach 1:

The system continuously monitors motor current values during operation and compares them against reference values stored in memory. When the current exceeds the reference value, the system provides feedback to determine collision occurrence, collision direction, and collision strength, enabling detection of dynamic characteristics such as sliding and external forces.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The patent pre-stores reference current values corresponding to different movement states (forward, backward, left turn, right turn) in memory before operation. This preliminary preparation enables immediate and accurate collision detection by comparing real-time current measurements against pre-established benchmarks for each movement condition.

Inventive Principle:

Principle #10Preliminary action

3Reliability

If multiple separate sensors are installed for collision detection, then collision detection coverage is improved, but frequent stopping occurs due to sensor failure and user inconvenience increases

Engineering Contradiction:

Improvecollision detection coverageVSAvoidoperation continuity

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

The motor current monitoring system serves multiple functions simultaneously: it detects collisions in all movement directions (forward, backward, left, right), determines collision strength, and provides continuous operation without frequent false positives. This universal approach eliminates the need for multiple separate sensors and their associated failure points.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

This approach enables accurate and reliable collision detection with a low failure rate, allowing the serving robot to effectively respond to collisions in various movement states without relying solely on separate sensors.

Implementation Method 1

determining collision detection reference values for each movement state based on the sensitivity; monitoring the movement state of the serving robot and a motor current value of the serving robot

Methodology Applied

Scientific EffectElectrical current measurement: Ohmmeter

Data Source

PatentUS20250170719A1Method, apparatus and program for collision detection braking control in serving robot

Publication Date: 2025.05.29 RGT CO LTD

AI summary

A method of collision detection braking control in a serving robot according to various embodiments of the present invention is disclosed. The method includes: acquiring sensitivity and a braking time related to collision detection of a serving robot; determining collision detection reference values for each movement state based on the sensitivity; monitoring the movement state of the serving robot and a motor current value of the serving robot; and controlling the serving robot to brake for the braking time when the motor current value exceeds the collision detection reference value corresponding to the movement state.