Adaptive Robot Following Position to Avoid Cutting Across Users
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Solution Overview
Problem
Moving robots or autonomous mobile devices often cut across in front of their targets when the target turns, causing potential collision fears and discomfort, as existing systems fail to adaptively adjust their following positions in response to the target's orientation changes.
Innovation Solution
A moving body equipped with a detecting unit, a moving target calculation unit, and a movement control unit that adjusts its position based on the target's orientation, setting the moving target to the right or left front depending on the moving body's quadrant position relative to the target, ensuring it follows the target without cutting across.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the moving body maintains a fixed following position (right front or left front) relative to the target, then the following function is achieved, but when the target turns, the moving body may cut across in front of the target causing collision risk and discomfort
Solution Approach 1:
The patent applies dynamics by making the following position adaptive rather than fixed. The moving target calculation unit dynamically adjusts the following position based on the target's turning direction. When the target turns right, the following position shifts to the left front; when the target turns left, the following position shifts to the right front. This dynamic adjustment prevents the moving body from cutting across the target's path while maintaining safe following distance.
Solution Approach 2:
The patent implements feedback by continuously monitoring the target's orientation and position through the detection unit, then using this information to adjust the moving target calculation. The system receives feedback about the target's turning motion and responds by recalculating the appropriate following position, creating a closed-loop control system that adapts to real-time changes in target behavior.
2Adaptability or versatility
If the moving body continuously adjusts its position to follow the target, then the following function is maintained, but the system complexity increases due to quadrant calculation and adaptive positioning
Solution Approach 1:
The patent applies local quality by dividing the spatial environment into distinct quadrants relative to the target position. Each quadrant has specific following position characteristics assigned to it. This segmentation allows the system to use simple lookup logic based on which quadrant the moving body occupies, rather than implementing complex continuous calculations, thereby reducing overall system complexity while maintaining adaptability.
Data Source
AI summary
According to a moving body, position and direction of a user are calculated from distance measurement data, and on the basis thereof, the position and direction of the moving body are calculated. If the moving body is located in the first or fourth quadrant of the user coordinate system, a right-side moving target is set as the moving target. If the moving body is in the second or the third quadrant of the user coordinate system, a left-side moving target is set as the moving target. Accordingly, the moving target is set on the basis of the position of the moving body with respect to the user, so the moving body is prevented from cutting across in front of the user while its travelling.