Mobile robot and method for controlling the movement of a mobile robot based on user feedback

Abstract

The mobile robot has an attachment configured to receive an external force applied by a user for guiding the mobile robot. The mobile robot further includes a sensor arrangement configured to detect data related to the movement of the mobile robot. A controller is configured to verify whether the detected data corresponds to the application of the external force. The controller is configured to switch the mobile robot to operate in a collaborative mode when the application of the external force is successfully verified. In the collaborative mode, the user can move the mobile robot using a driving force required for the movement of the mobile robot, a first portion of the driving force being provided by the external force and a second portion being provided by a motor drive unit.

Description

[Technical Field]

[0001] Aspects of the embodiments disclosed herein relate generally to the field of automation devices, and more particularly to a mobile robot for moving an item and a method for controlling the movement of the mobile robot based on user feedback. [Background technology]

[0002] In recent years, advances in technology have led to a rapid increase in the use of mobile robots in a variety of fields. These mobile robots can be found in many manufacturing fields, including factories and warehouses. In this new era of manufacturing, mobile robots are playing a key role in automating all industries, leading to a significant increase in production volume. By using mobile robots, manufacturers can reduce production costs, increase production speed, and improve product quality.

[0003] In general, currently available mobile robots are capable of functioning in close proximity to humans, but are unable to be physically controlled by humans or to interact effectively with them in dynamic environments.

[0004] Therefore, in light of the above discussion, there is a need to overcome the drawbacks associated with conventional methods of controlling the movement of a mobile robot based on user feedback. Summary of the Invention [Problem to be solved by the invention]

[0005] The embodiments disclosed herein relate to a mobile robot for moving an object and a method for controlling the movement of the mobile robot based on user feedback. It is an objective of the embodiments disclosed herein to provide an improved mobile robot and a method for effectively integrating user feedback into the movement of the mobile robot. [Means for solving the problem]

[0006] One or more advantages of the embodiments disclosed herein are achieved by the solutions disclosed in the accompanying independent claims. Advantageous embodiments of the present disclosure are further defined by the dependent claims.

[0007] In one aspect, embodiments disclosed herein provide a mobile robot for moving an object. In one embodiment, the mobile robot includes an attachment configured to receive an external force applied by a user to guide the mobile robot. The mobile robot further includes a sensor arrangement configured to detect data related to movement of the mobile robot. The system further includes a motor drive configured to enable movement of the mobile robot. The mobile robot further includes a controller configured to receive the detected data from the sensor arrangement. The controller is further configured to verify whether the detected data corresponds to application of the external force. The controller is further configured to switch the mobile robot to operate in a collaborative mode when successful application of the external force is verified. In the collaborative mode, a user can move the mobile robot using a driving force required for movement of the mobile robot, a first portion of which is provided by the external force and a second portion of which is provided by the motor drive.

[0008] In another aspect, embodiments disclosed herein provide a method for controlling movement of a mobile robot based on user feedback. The method further includes receiving an external force applied by a user to guide the mobile robot. The method further includes detecting data related to movement of the mobile robot. The method further includes receiving the detected data. The method further includes verifying whether the detected data corresponds to application of the external force. The method further includes switching the mobile robot to operate in a collaborative mode when application of the external force is successfully verified. In the collaborative mode, a user can move the mobile robot using a driving force required for movement of the mobile robot, a first portion of the driving force being provided by the external force applied by the user and a second portion being provided by a motor drive unit. The mobile robot and method disclosed herein provide an effective strategy for controlling the movement of a mobile robot to move an object based on user feedback. Therefore, the mobile robot is suitable for use in dynamic environments. Furthermore, attachments provided to the mobile robot can be configured in any shape or size that is convenient and cost-effective as a means for providing feedback for the user to control the movement of the mobile robot. Furthermore, regardless of the weight the mobile robot is carrying, the amount of external force that the user must apply is minimal. This allows the user to move the robot device quickly and makes it easy for the user to operate.

[0009] It should be noted that all of the above-described embodiments can be implemented in combination with each other. It should also be noted that all devices, elements, circuits, units, and means described herein can be realized by software elements or hardware elements, or any combination thereof. Furthermore, all steps performed by various components described herein and functions described as being performed by various components mean that those components are adapted or configured to perform each step and function. In the specific embodiments described below, even if specific functions or steps performed by external components are not reflected in the specific and detailed descriptions of the components performing those functions or steps, it will be clear to those skilled in the art that these methods and functions can be realized by respective software elements or hardware elements, or any combination thereof. Furthermore, it should be understood that features of the present disclosure can be integrated in various combinations without departing from the scope of the present disclosure, which is defined by the appended claims.

[0010] Further aspects, advantages, features and objects of the present disclosure will become apparent from the detailed description of illustrative embodiments taken in conjunction with the drawings and the appended claims.

[0011] The written summary, as well as the following detailed description of exemplary embodiments, will be better understood when read in conjunction with the appended drawings. For the purpose of illustrating the present disclosure, the drawings show exemplary configurations of the present disclosure. However, the present disclosure is not limited to the particular methods and instrumentalities described herein. Moreover, persons skilled in the art will appreciate that the drawings are not to scale. Wherever possible, like elements will be identified by the same reference numerals.

[0012] Embodiments of the present disclosure will now be described, by way of example, with reference to the following drawings: [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a block diagram illustrating an environment in which a mobile robot interacts with a user, according to one embodiment of the present disclosure.

[0014] [Figure 2] FIG. 2 is a block diagram illustrating a mobile robot according to one embodiment of the present disclosure.

[0015] [Figure 3] FIG. 3 is a schematic diagram illustrating an application of a mobile robot, according to one embodiment of the present disclosure.

[0016] [Figure 4] 4A and 4B together illustrate a flowchart illustrating a method for controlling the movement of a mobile robot based on user feedback, according to one embodiment of the present disclosure.

[0017] In the accompanying drawings, underlined symbols are used to indicate an object overlaid or adjacent to the underlined symbol. Non-underlined symbols relate to the object identified by the line connecting the symbol and the object. Additionally, when a non-underlined symbol is shown with an associated arrow, the non-underlined symbol is used to indicate the entire object to which the arrow points. DETAILED DESCRIPTION OF THE INVENTION

[0018] The following detailed description illustrates embodiments of the present disclosure and methods of practicing those embodiments. While several forms of practicing the present disclosure are shown, those skilled in the art will recognize that other embodiments are possible for practicing or applying the present disclosure.

[0019] 1 is a block diagram illustrating an environment in which a mobile robot interacts with a user, according to one embodiment of the present disclosure. Referring to FIG. 1, an environment in which a mobile robot 100 interacts with a user 104 is shown. The mobile robot 100 includes an attachment 102 configured to receive an external force applied by the user 104 to guide the mobile robot 100.

[0020] Here, the mobile robot 100 is a device that includes mechanical, electronic, and computationally capable components that enable the mobile robot 100 to perform specific predetermined tasks in either an automated, semi-automated, or manual manner. For example, the mobile robot 100 may be used to move trolleys or move raw materials in a factory, warehouse, or manufacturing plant. Thus, performing these predetermined tasks involves the mobile robot 100 moving from one location to another. Furthermore, the user 104 refers to a human who attempts to control the movement of the mobile robot 100.

[0021] In one embodiment, the movement of the mobile robot 100 is controlled automatically or manually. In this regard, to perform some of the predetermined tasks described above, the movement of the mobile robot 100 needs to be controlled in response to selections made by the user 104.

[0022] The mobile robot 100 includes an attachment 102. The attachment 102 is a component that provides a means for a user 104 to apply an external force to the mobile robot 100, which indicates to the mobile robot 100 the direction in which the user 104 wants the mobile robot 100 to be guided. That is, the attachment 102 allows the mobile robot 100 to be guided according to the input of the user 104. Therefore, regardless of the weight the mobile robot 100 is carrying, the user 104 can easily guide the mobile robot 100 via the attachment 102. In one embodiment, the attachment 102 may be integrated into the mobile robot 100 depending on the application of the mobile robot 100. For example, the attachment 102 may be part of a conveyor top provided on a given mobile robot 100 used for picking and placing bins.

[0023] In one embodiment, the attachment 102 may be configured to be temporarily attached to the outer surface of the mobile robot 100. Alternatively, the attachment 102 may be a member fixed to the mobile robot 100.

[0024] In one embodiment, the attachment 102 may include any one of a rack, a trolley, or a conveyor top. In this regard, the attachment 102 may be configured in any shape or size, allowing the user 104 to apply external forces to the mobile robot 100 in a variety of different and versatile environments and situations.

[0025] Figure 2 is a block diagram illustrating a mobile robot according to one embodiment of the present disclosure. Figure 2 will be described in conjunction with the components of Figure 1. Referring to Figure 2, the mobile robot 100, a sensor configuration 200, a motor drive unit 202, and a controller 204 are shown. Here, the mobile robot 100 includes an attachment 102, a sensor configuration 200, a motor drive unit 202, and a controller 204.

[0026] The sensor configuration 200 is configured to sense data related to the movement of the mobile robot 100. Here, the sensor configuration 200 refers to a configuration of one or more sensors capable of sensing data related to a particular parameter. In this regard, the sensor configuration 200 senses numerical data related to the parameter related to the movement of the mobile robot 100.

[0027] In one embodiment, the sensory data may include one or more of back-EMF, inertial measurement unit (IMU) data, or LIDAR sensor data. In this regard, the sensory data related to back-EMF indicates information regarding an increase or decrease in the moving speed of the mobile robot 100. Similarly, the sensory data related to the inertial measurement unit (IMU) provides information related to the orientation, acceleration, angular velocity, and other forces due to gravity of the mobile robot 100. Furthermore, the LIDAR sensor data of the mobile robot 100 provides information regarding objects or obstacles present in the surroundings of the mobile robot 100. Optionally, the sensor configuration 200 may include one or more of back-EMF sensors, inertial measurement units (IMUs), or LIDAR sensors. Optionally, the state of the mobile robot 100 may also be monitored in addition to the sensory data. Additionally, the state of the mobile robot 100 may be any of the following states: stationary, moving, charging, waiting (i.e., the mobile robot 100 is waiting to perform a task), idle (i.e., the mobile robot 100 is not performing any task), and operating (i.e., the mobile robot 100 is performing some task).

[0028] Furthermore, the motor drive unit 202 is configured to enable the movement of the mobile robot. Here, the motor drive unit 202 is an assembly consisting of two motors and connected to two wheels. The motors included in the motor drive unit 202 may optionally be DC motors powered by DC batteries. In this regard, the two motors in the motor drive unit 202 are configured to provide rotational motion to the two wheels to enable the movement of the mobile robot 100. The two wheels may optionally be coupled to the motors via pulley belts.

[0029] The mobile robot 100 further includes a controller 204, which is a computing element that responds to and processes commands provided by the user 104 to control the operation of the mobile robot 100. Examples of the controller 204 include, but are not limited to, various processing circuits such as a microprocessor, a microcontroller, a complex instruction set computer (CISC) microprocessor, a reduced instruction set computer (RISC) microprocessor, a very long instruction word (VLIW) microprocessor, and a central processing unit (CPU). Furthermore, the controller 204 may refer to one or more individual controllers, controllers, and various elements associated with a controller that may be shared with other controllers. In addition, the one or more individual controllers, controllers, and their elements may be arranged in various configurations to respond to and process commands to drive the mobile robot 100. It will also be understood that each mobile robot 100 may be configured to include a controller 204 therein.

[0030] The controller 204 is configured to receive sensory data from the sensor arrangement 200. Here, the sensory data collected by the sensor arrangement 200 needs to be continuously analyzed in real time to determine whether it is indicative of normal operation of the mobile robot 100 in autonomous mode or corresponds to the application of an external force. The sensory data is then analyzed by the controller 204.

[0031] Furthermore, the controller 204 is configured to verify whether the sensed data corresponds to the application of an external force. In this regard, the controller 204 analyzes the sensed data to detect a specific change or fluctuation in the value of the sensed data. If a specific change or fluctuation is detected in the value of the sensed data, the controller 204 determines that the sensed data corresponds to the application of an external force. Here, the determination that the specific fluctuation in the sensed data corresponds to the application of an external force is made because the specific fluctuation in the sensed data is caused only by a sudden external interruption in the operation of the mobile robot 100, and the interruption is due to the application of an external force.

[0032] In one embodiment, the controller 204 is further configured to receive pre-sensed data to train the mobile robot 100 to verify whether the sensed data corresponds to the application of an external force. Here, the pre-sensed data refers to training data created using the sensor configuration 200, and includes specific changes or fluctuations in numerical values ​​that the controller 204 must detect to verify the application of an external force. The controller 204 then uses the pre-sensed data to learn to detect specific fluctuations in the numerical values ​​included in the sensed data.

[0033] Furthermore, the controller 204 is configured to switch the mobile robot 100 to operate in a collaborative mode when the application of the external force is verified to be successful. In the collaborative mode, the user can move the mobile robot using a driving force required for the movement of the mobile robot, where a first portion of the driving force is provided by an external force and a second portion is provided by the motor driving unit 202. Here, the collaborative mode is one of the operating states of the mobile robot 100, and enables the movement of the mobile robot 100 by combining input from the user 104 (i.e., application of an external force) with driving by the motor driving unit 202. In this respect, operating the mobile robot 100 in the collaborative mode allows the user 104 to control the movement of the mobile robot 100. In particular, even when the movement of the mobile robot 100 is controlled by the user 104, the user 104 only needs to apply a portion of the driving force required for the movement of the mobile robot 100 as an external force. Here, the driving force refers to a force that changes the position of the mobile robot 100 and enables its movement. Therefore, in the collaborative mode, a first portion (i.e., a specific part) of the driving force is supplied by an external force applied by the user 104, allowing the user 104 to move the mobile robot 100. The second portion of the driving force, i.e., the remaining portion obtained by subtracting the first portion from the total driving force, is supplied by the motor driving unit 202. As a result, most of the driving force required for moving the mobile robot 100 is supplied by the motor driving unit 202, while the input (i.e., external force) from the user 104 is also integrated into the driving force via the first portion. Therefore, this configuration has the advantageous effect of allowing the user 104 to move the mobile robot 100 without having to apply a large external force, regardless of the weight of the load carried by the mobile robot 100. Optionally, the first portion of the driving force may be in the range of 5% to 30%. Similarly, the remaining portion of the driving force may be in the range of 70% to 95%.For example, the user 104 may apply an external force to provide 10 percent (i.e., a first portion) of the driving force, and the motor drive unit 202 may provide the remaining 90 percent (i.e., a second portion). Furthermore, while the mobile robot 100 is operating in the collaborative mode, the mobile robot 100 reduces its movement speed depending on the magnitude of the external force to follow the movement speed of the user. This allows the user 104 to quickly operate the mobile robot 100.

[0034] In one embodiment, the controller 204 is further configured to use the sensory data from the collaborative mode to train the mobile robot 100 to navigate a path in an autonomous mode. In this regard, even while operating in the collaborative mode, the sensor arrangement 200 is actively acquiring sensory data that allows the mobile robot 100 to map a path and its surrounding environment. The controller 204 then uses the sensory data to train the mobile robot 100 to navigate a path in an autonomous mode. Here, "autonomous mode" refers to an operating mode of the mobile robot 100 in which the mobile robot 100 navigates along a particular path in a fully automated manner without human intervention, using decisions made by the controller 204 based on the sensory data. Thus, by the user 104 applying external forces to cause the mobile robot 100 to navigate along the path once, the mobile robot 100 can optionally learn to navigate along the path automatically when there is a task to be performed along the path. When the mobile robot 100 operates in the automatic mode, 100 percent of the driving force required for the movement of the mobile robot 100 is supplied via the motor drive unit 202. In other words, this driving force is supplied entirely by the motor drive unit 202 of the mobile robot 100 itself, without any external artificial force.

[0035] 3 is a schematic diagram showing an example of a mobile robot application. Referring to FIG. 3, there is shown a mobile robot 300, an item 302 to be carried by the mobile robot 300, an external force 304, a user 306, and a path 308. Here, the attachment of the mobile robot 300 carrying the item 302 receives the external force 304 from the user 306, which switches the mobile robot 300 into a collaborative mode, allowing the user 306 to apply the external force 304 and move the mobile robot 300 along the path 308 selected by the user 306.

[0036] Figures 4A and 4B together are a flowchart illustrating a method for controlling the movement of a mobile robot. Referring to Figure 2, method 400 is shown. In step 402, an external force is received from a user to guide the mobile robot. In step 404, data related to the movement of the mobile robot is sensed. In step 406, the sensed data is received. In step 408, it is verified whether the sensed data corresponds to the application of an external force. In step 410, if the application of the external force is successfully verified, the mobile robot is switched to operate in a collaborative mode. In the collaborative mode, the user can move the mobile robot with a driving force required for the movement of the mobile robot, a first portion of which is provided by the external force and a second portion of which is provided by the motor drive unit.

[0037] In one embodiment, the sensory data may include one or more of back-EMF, inertial measurement unit (IMU) data, or LIDAR sensor data of a mobile robot.

[0038] In one embodiment, the method further includes training the mobile robot to move along a predetermined path in an autonomous mode using the sensory data in the collaborative mode.

[0039] In one embodiment, the method further includes training the mobile robot to verify, based on previously sensed data, whether the sensed data corresponds to application of an external force.

[0040] Modifications to the embodiments of the present disclosure described above may be made without departing from the scope of the disclosure, as defined by the claims appended hereto. When describing and claiming the present disclosure, the terms "comprising," "containing," "incorporating," "having," "being," and the like are not intended to be exclusive, but should be interpreted to allow for the presence of items, components, or elements not expressly recited. References to the singular may also be interpreted as referring to the plural. The word "exemplary" means "serving as an example, instance, or illustration." An embodiment described as "exemplary" is not to be construed as superior or preferred over other embodiments, nor is it intended to exclude the incorporation of features from other embodiments. The word "optionally" means "provided in some embodiments and not in other embodiments." It should also be understood that certain features of the present disclosure, although described in separate embodiments for clarity, may also be provided in combination in a single embodiment. Conversely, it should be understood that various features of the present disclosure, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable combination with features in any other embodiment.

Claims

1. A mobile robot, an attachment configured to receive an external force applied by a user (104) to guide the mobile robot; a sensor arrangement configured to sense data related to movement of the mobile robot; a motor drive configured to enable movement of the mobile robot; a controller; The controller receiving sensed data from the sensor arrangement; verifying whether the sensed data corresponds to the application of an external force; when the application of the external force is verified successfully, switching the mobile robot to operate in a cooperative mode; In the collaborative mode, the user is allowed to move the mobile robot using a driving force required for the movement of the mobile robot, a first portion of the driving force being supplied by the external force, and a second portion of the driving force being supplied by the motor drive unit.

2. The mobile robot of claim 1 , wherein the attachment comprises one of a rack, a trolley, or a conveyor top.

3. The mobile robot of claim 1 , wherein the sensory data includes one or more of back-EMF data, inertial measurement unit (IMU) data, or LIDAR sensor data of the mobile robot.

4. The mobile robot of claim 1 , wherein the controller is further configured to use the sensory data in the collaborative mode to teach the mobile robot to move along a path in an autonomous mode.

5. 10. The mobile robot of claim 1, wherein the controller is further configured to receive previously sensed data for training the mobile robot to verify whether the sensed data corresponds to the application of an external force.

6. 1. A method for controlling movement of a mobile robot based on user feedback, comprising: receiving an external force applied by a user to guide the mobile robot; detecting data relating to the movement of the mobile robot; receiving sensor data; verifying whether the sensed data corresponds to the application of the external force; and switching the mobile robot to operate in a cooperative mode when the application of the external force is verified successfully; In the collaborative mode, the user is allowed to move the mobile robot using a driving force required for the movement of the mobile robot, a first portion of the driving force being supplied by the external force, and a second portion of the driving force being supplied by the motor drive unit.

7. The method of claim 6 , wherein the sensed data includes one or more of back-EMF data, inertial measurement unit (IMU) data, or LIDAR sensor data of the mobile robot.

8. The method of claim 6 , further comprising using the sensory data in the collaborative mode to teach the mobile robot to move along a path in an autonomous mode.

9. The method of claim 6 , further comprising the step of training the mobile robot to verify, based on previously sensed data, whether the sensed data corresponds to the application of the external force.

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