Steering Controller for Movable Robot

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Solution Overview

Problem

Current pipeline inspection robots face difficulties in steering through nonlinear pipeline sections, particularly when moving at high speeds or with large radii of curvature, due to the need for direct motor control based on pipeline geometry, which can cause damage and is inconvenient and slow.

Innovation Solution

A steering controller that converts intuitive steering signals, including translational and rotational velocities, into motor driving signals using a specific conversion relationship, allowing operators to intuitively steer the robot by inputting velocities in forward/backward, left/right, and upward/downward directions, with wheels arranged at 120° intervals.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If on-off steering control is used to steer the movable robot in bent pipeline portions, then the robot can be steered in desired directions, but the robot may cause damage to itself when moving at high speed or with large radius of curvature

Engineering Contradiction:

Improvesteering controlVSAvoidrobot damage risk

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

The patent introduces a steering controller as an intermediary device between the operator and the motor-driven wheels. This controller receives steering signals and converts them into appropriate motor control signals, eliminating the need for direct on-off control of motors by the operator. The controller acts as a mediator that transforms intuitive steering inputs into precise motor commands, reducing the risk of damage while maintaining steering capability.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent replaces the direct mechanical control system (where operators directly control motor switches) with an electronic control system (steering controller that processes signals and generates motor commands). This substitution allows for smoother, more precise control of motor velocities, preventing sudden on-off transitions that could cause damage at high speeds or large radii of curvature.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Adaptability or versatility

If direct motor control is used for steering, then the robot can navigate bent portions, but the operation becomes inconvenient and slow

Engineering Contradiction:

Improvenavigation capabilityVSAvoidsteering operation

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The steering controller serves as an intermediary that simplifies the operator's task by handling the complex conversion from intuitive steering signals to motor control commands. Operators only need to provide high-level steering intentions, and the controller automatically computes the appropriate motor velocities, making operation convenient and fast while maintaining full navigation capability through bent portions.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent changes the control parameters from direct motor velocity commands to intuitive steering signals (such as desired direction and speed). The steering controller performs real-time parameter transformation, converting these simplified input parameters into the multiple motor velocity parameters needed for differential-driven navigation, thereby simplifying operation without reducing adaptability.

Inventive Principle:

Principle #35Parameter changes

3Productivity

If the robot moves at high speed in pipeline, then inspection efficiency improves, but on-off steering control may cause damage to the robot

Engineering Contradiction:

Improveinspection efficiencyVSAvoidrobot damage risk

Core Design Contradiction:

ProductivityVSReliability

Solution Approach 1:

The electronic steering controller replaces direct mechanical on-off control, enabling smooth and precise velocity modulation of motors even at high speeds. This allows the robot to maintain high inspection efficiency while avoiding the damaging effects of abrupt control transitions, as the controller can generate continuous, optimized motor commands appropriate for high-speed operation.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The steering controller dynamically adjusts motor velocities based on real-time steering signals and robot state, allowing optimal control at varying speeds. When moving at high speeds through pipeline sections, the controller continuously optimizes motor commands to maintain stability and prevent damage, enabling sustained high-speed operation that improves inspection productivity without compromising reliability.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS8442721B2Steering controller for movable robot, steering control method using the steering controller and movable robot system using the steering controller

Publication Date: 2013.05.14 INDUSTRY UNIVERSITY COOPERATION FOUNDATION HANYANG UNIVERSITY

AI summary

A steering controller for a movable robot is provided. The steering controller drives a plurality of motors, each of which is connected to a wheel. The wheels are spaced apart from each other in the circumferential direction with respect to an axis of a body of the movable robot. The steering controller comprises an input unit, an output unit and a conversion unit. The input unit receives steering signals including velocities of the movable robot according to the moving directions. The output unit outputs driving signals including rotational velocities of the motors. The conversion unit converts the steering signals to the driving signals. The use of the steering controller enables an operator to intuitionally steer the movable robot, making the movable robot convenient to use.