Apparatus and method detecting a robot slip

• US 20110166763A1
• Filed: 10/20/2010
• Published: 07/07/2011
• Est. Priority Date: 01/05/2010
• Status: Abandoned Application

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Lee, Hyoung-Ki, Jeong, Woo-Yeon, Choi, Ki-Wan, Park, Ji-Young
• Application Number:
  US12/926,009
• Publication Number:
  US 20110166763A1
• Time in Patent Office: Days
• US Class Current: 701/82
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

An apparatus and method for detecting a slip of a robot. According to the apparatus and method, the probability of a slip occurring may be preliminarily determined using a first acceleration obtained from an acceleration sensor and a second acceleration obtained from an encoder. Then, finally the occurrence of a slip may be determined using a change in a driving control signal. Thus, accurate detection of a slip can be realized while preventing incorrect determination of slip occurrence.

Claims

1. An apparatus detecting a slip of a robot, comprising:

a driving control unit to generate a driving control signal for controlling a motion of the robot; and

a slip detecting unit to determining whether a slip has occurred using a first acceleration acquired by an acceleration sensor, a second acceleration acquired by an encoder, and a determined change in the driving control signal.

2. The apparatus of claim 1, wherein the driving control signal is a pulse width modulation (PWM) signal that controls a rotation speed of either a wheel of the robot or a motor for driving the wheel.

3. The apparatus of claim 1, wherein the slip detecting unit includes

a first determining unit to determine whether a difference between the first acceleration and the second acceleration is equal to or greater than a first threshold, and

a second determining unit to determine whether the change in the driving control signal is equal to or greater than a second threshold when the difference between the first acceleration and the second acceleration is equal to or greater than the first threshold.

4. The apparatus of claim 3, wherein the slip detecting unit further includes a third determining unit to determine whether a slip index value that indicates a frequency of slip occurrence is equal to or greater than a third threshold when the change in the driving control signal is equal to or greater than the second threshold.

5. The apparatus of claim 4, wherein the third determining unit increases the slip index value when the change in the driving control signal is equal to or greater than the second threshold.

6. The apparatus of claim 1, wherein the slip detecting unit includes

a first determining unit to determine whether the change in the driving control unit is equal to or greater than a first threshold, and

a second determining unit to determine whether a difference between the first acceleration and the second acceleration is equal to or greater than a second threshold when the change in the driving control signal is equal to or greater than the first threshold.

7. The apparatus of claim 6, wherein the slip detecting unit further includes a third determining unit to determine whether a slip index value that indicates a frequency of slip occurrence is equal to or greater than a third threshold when the difference between the first acceleration and the second acceleration is equal to or greater than the second threshold.

8. The apparatus of claim 7, wherein the third determining unit increases the slip index value when the difference between the first acceleration and the second acceleration is equal to or greater than the second threshold.

9. A method detecting a slip of a robot, comprising:

determining whether a difference between a first acceleration and a second acceleration is equal to or greater than a first threshold;

determining whether a determined change in a driving control signal is equal to or greater than a second threshold when the difference between the first acceleration and the second acceleration is equal to or greater than the first threshold; and

increasing a slip index value that indicates a frequency of slip occurrence and determining whether the increased slip index value is equal to or greater than a third threshold when the change in the driving control signal is equal to or greater than the second threshold.

10. The method of claim 9, further comprising:

determining that a slip has occurred when the increased slip index value is equal to or greater than the third threshold.

11. The method of claim 9, wherein the driving control signal is a pulse width modulation (PWM) signal that controls a rotation speed of a motor for driving a wheel of the robot.

12. A method detecting a slip of a robot, comprising:

determining whether a determined change in a driving control signal is equal to or greater than a first threshold;

determining whether a difference between a first acceleration acquired by an acceleration sensor and a second acceleration acquired by an encoder is equal to or greater than a second threshold when the change in the driving control signal is equal to or greater than the first threshold; and

increasing a slip index value that indicates a frequency of slip occurrence and determining whether the increased slip index value is equal to or greater than a third threshold when the difference between the first acceleration and the second acceleration is equal to or greater than the second threshold.

13. The method of claim 12, further comprising:

determining that a slip has occurred when the increased slip index value is equal to or greater than the third threshold.

14. The method of claim 12, wherein the driving control signal is a pulse width modulation (PWM) signal that controls a rotation speed of a motor for driving a wheel of the robot.