Spherical Robot Pitch Angle Deceleration Control
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Solution Overview
Problem
Spherical robots face challenges in accurately stopping at a target location due to their shape, often rolling past or stopping short of the intended destination due to inertia, especially when moving on different floor surfaces with varying friction levels.
Innovation Solution
The robot incorporates a spherical body with a shaft connecting two spherical crowns, a drive mechanism for rotating the crowns, and an angular speed sensor to detect pitch angles, allowing for deceleration control based on the detected maximum pitch angle and remaining distance to the target, ensuring precise stopping by adjusting the control amount according to the floor surface type.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot moves on different floor surfaces, then the robot can adapt to various environments, but the positioning accuracy deteriorates due to varying friction levels causing the robot to roll past or stop short of the target
Solution Approach 1:
The control circuit dynamically adjusts the deceleration control amount based on the detected maximum pitch angle and remaining distance to target. The control amount is modified according to floor surface friction characteristics, changing the deceleration parameter to compensate for varying friction levels and achieve accurate stopping on different surfaces.
Solution Approach 2:
The angular speed sensor continuously detects the pitch angle during movement, and the control circuit uses this feedback information to determine the maximum pitch angle. This feedback loop allows the system to adjust the deceleration control in real-time based on actual movement conditions and floor surface characteristics.
2Ease of operation
If the robot uses a spherical body shape, then the robot achieves smooth movement and compact design, but the stopping precision deteriorates due to inertia causing the robot to roll past the target location
Solution Approach 1:
The control circuit starts deceleration control before the robot reaches the target location, when a predetermined distance remains. By initiating deceleration in advance and adjusting the control amount based on the maximum pitch angle detected during movement, the system compensates for the spherical robot's inertia and ensures accurate stopping at the target.
3Manufacturing precision
If the robot increases the deceleration control amount to prevent overshooting, then the stopping accuracy improves, but the robot may stop short of the target due to excessive deceleration on high-friction surfaces
Solution Approach 1:
The deceleration control amount is not fixed but is dynamically changed based on the detected maximum pitch angle and remaining distance to target. The control circuit adjusts the control amount according to floor surface friction characteristics, increasing deceleration when needed and decreasing it when the surface has high friction, thereby achieving accurate stopping across different surface conditions.
Solution Approach 2:
The control system transitions from static deceleration control to dynamic control where the deceleration amount varies continuously based on real-time detection of pitch angle and distance to target. This dynamic adjustment allows the robot to adapt its deceleration profile to match the actual movement conditions and floor surface properties.
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 solution enables the robot to accurately stop at the target location without rolling past or stopping short, considering the floor surface's friction, thus improving positioning accuracy and stability.
Implementation Method 1
an angular speed sensor that detects an angular speed, of the display, around an axis in a horizontal direction perpendicular to a moving direction of the main body
Implementation Method 2
a spherical body with a shaft connecting two spherical crowns, a drive mechanism for rotating the crowns... considering the floor surface's friction
Data Source
AI summary
A robot includes a control circuit that detects a changing maximum value of a pitch angle, when the robot moves to a predetermined target point by rotating its main body. The control circuit determines a minimum control amount corresponding to the maximum value of the pitch angle, when the robot arrives at a predetermined distance short of the predetermined target point. The control circuit generates a deceleration control amount for the second drive mechanism that is greater than or equal to the minimum control amount, according to a remaining distance to the predetermined target point. The control circuit decelerates the rotation of the main body by controlling the second drive mechanism in accordance with the deceleration control amount.