Transporting Robot Route Control Using Center of Gravity Estimation

The robot performs self-diagnosis of its center of gravity state by measuring pressure distribution on itself, eliminating the need for external measurement devices or complex pre-programming. The robot autonomously estimates its own center of gravity position based on pressure sensor data from the loading box, resolving the contradiction by making the system self-sufficient without adding external complexity.

The patent replaces complex mechanical center of gravity measurement mechanisms with a pressure sensing system. Instead of using mechanical sensors or complex structural arrangements to determine center of gravity, the system uses pressure distribution measurements from load cells or pressure sensors in the loading box to estimate the center of gravity position, simplifying the mechanical complexity while maintaining stability.

The robot pre-calculates optimal traveling routes and speed profiles before actual movement based on the estimated center of gravity position. By determining acceleration and deceleration patterns in advance according to the cargo's center of gravity, the system improves productivity through optimized travel without requiring complex real-time adjustments during motion.

The patent implements dynamic adjustment of traveling parameters based on the center of gravity estimation. The speed profile, acceleration rate, and deceleration rate are dynamically adapted according to the cargo weight and center of gravity position, allowing the robot to optimize productivity for different loading conditions without requiring a completely complex control system.