Mobile robot and stabilization method for the mobile robot

Patent metadata

Field	Value
Publication number	US-12083679-B2
Application number	US-202217881357-A
Country	US
Kind code	B2
Filing date	Aug 4, 2022
Priority date	Mar 22, 2022
Publication date	Sep 10, 2024
Grant date	Sep 10, 2024

Abstract

A stabilization method incorporated with a mobile robot having a body, a plane-pressure sensor, and a movement mechanism is disclosed and includes the following steps: sensing and obtaining a pressure distribution of the body through the plane-pressure sensor; computing a center of gravity (CoG) position of the body in accordance with the pressure distribution; determining whether the CoG position is located within a steady zone pre-defined upon the body; and, providing a reverse force toward a CoG offset direction of the CoG position when the CoG position is determined to be off the steady zone.

First claim

What is claimed is:

1. A mobile robot, comprising:
a body having a chassis, wherein the chassis is arranged with a movement mechanism;
a plane-pressure sensor arranged on the body, sensing a pressure distribution of the body to obtain a center of gravity (CoG) position of the body;
a movable tool arranged on the body; and
a controller connected with the movement mechanism, the plane-pressure sensor, and the movable tool, configured to control the movement mechanism or the movable tool to perform a CoG compensation action when the CoG position is located out of a steady zone of the body by applying a reverse force against a CoG offset direction for the CoG position to return to the steady zone, wherein the CoG offset direction is a direction of offset of the CoG position with respect to the stable region.

2. The mobile robot in claim 1 , wherein the CoG compensation action comprises controlling the movement mechanism to move toward the CoG offset direction.

3. The mobile robot in claim 2 , wherein the controller is configured to, when determining that the CoG offset direction and a preset cruise direction of the mobile robot are different, first control the movement mechanism to move toward the CoG offset direction to provide the reverse force, and then control the movement mechanism to move ahead toward the preset cruise direction after the CoG position returns to the steady zone.

4. The mobile robot in claim 1 , wherein the CoG compensation action comprises controlling the movable tool to perform a posture adjustment procedure, and the posture adjustment procedure comprises adjusting a position and a posture of the movable tool to make a tool CoG of the movable tool moving toward an opposite direction against the CoG offset direction.

5. The mobile robot in claim 4 , wherein the movable tool is configured to first grab a payload on the body and then adjust the position and the posture when performing the posture adjustment procedure.

6. The mobile robot in claim 4 , wherein the body has a payload area at one side, and at least one payload is put on the payload area, wherein the CoG compensation action comprises controlling the movable tool to move the payload toward the opposite direction against the CoG offset direction.

7. The mobile robot in claim 6 , wherein the controller is configured to control the movable tool to stop moving the payload when the CoG position is determined to be within the steady zone.

8. The mobile robot in claim 6 , wherein the controller is configured to determine whether the movement mechanism moves or stops when the movable tool moves the payload based on the location of the CoG position.

9. A stabilization method, incorporated with a mobile robot having a body, and the body having a plane-pressure sensor, and the stabilization method comprising:
a) sensing a pressure distribution of the body through the plane-pressure sensor;
b) computing a certer of gravity (CoG) position of the body based on the pressure distribution; and
c) performing a CoG compensation action when determining that the CoG position is located out of a steady zone that is close to a central position of the body, wherein the CoG compensation action is performed to provide a reverse force against a CoG offset direction of the CoG position with respect to the steady zone.

10. The stabilization method in claim 9 , wherein the body comprises a chassis, and the chassis is arranged with a movement mechanism, wherein the step c) comprises controlling the movement mechanism to move toward the CoG offset direction.

11. The stabilization method in claim 9 , wherein the body is arranged with a movable tool, and the step c) comprises controlling the movable tool to perform a posture adjustment procedure, wherein the posture adjustment procedure is performed to adjust a postion and a posture of the movable tool so that a tool CoG of the movable tool moves toward an opposite direction against the CoG offset direction.

12. The stabilization method in claim 11 , wherein the body comprises a payload area at one side, a payload is put on the payload area, and the step c) comprises controlling the movable tool to move the payload toward the opposite direction against the CoG offset direction.

13. The stabilization method in claim 9 , further comprises a step d): controlling a movable tool of the body to perform a vibration suppression control procedure when determining that the CoG position is located within the steady zone.

14. A stabilization method, incorporated with a mobile robot having a body, the body having a plane-pressure sensor and a movable tool, and the stabilization method comprising:
a) sensing a pressure distribution of the body through the plane-pressure sensor;
b) computing a center of gravity (CoG) position of the body based on the pressure distribution;
c) determining whether the CoG position is located within a steady zone or a compensation zone, wherein the steady zone is close to a central position of the body and the compensation zone is close to a peripheral position of the body;
d) determining whether a payload that is movable exists on the body;
e) controlling the movable tool to perform a posture adjustment procedure when no payload exists on the body or an immovable payload exists on the body, wherein the posture adjustment procedure is performed to adjust a position and a posture of the movable tool so that a tool CoG of the movable tool moves toward an opposite direction to a CoG offset direction of the CoG position with respect to the steady zone;
f) confirming a distribution of the payload based on the pressure distribution when the payload that is movable exists on the body; and
g) after the step f), controlling the movable tool to move the payload toward the opposite direction.

Assignees

• Delta Electronics Inc

Inventors

• Huang Cheng-Hao
• Huang Po-Chiao
• Lin Han-Ching
• Wang Shi-Yu

Classifications

• B25J5/007

  mounted on wheels · CPC title

• G01M1/122

  Determining position of centre of gravity · CPC title

• B25J13/08

  by means of sensing devices, e.g. viewing or touching devices · CPC title

• B25J19/002

  using counterweights · CPC title

• B25J9/162

  Mobile manipulator, movable base with manipulator arm mounted on it · CPC title