Autonomous Docking Compliance Control for Collision-Free Connector Contact

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Solution Overview

Problem

Autonomous mobile apparatuses face the risk of collision and damage when docking with stations due to high power output control, which can lead to physical contact and potential harm.

Innovation Solution

Implementing compliance control in both autonomous mobile apparatuses and docking stations, where the apparatus moves in proximity to the station and then uses compliance control to bring connection units into precise contact with corresponding connectors, ensuring safe and stable docking without excessive force.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If high power output control is used to make physical contact with the docking station, then the autonomous mobile apparatus can achieve firm connection, but the main body may be damaged due to possible collision

Engineering Contradiction:

Improveconnection stabilityVSAvoidcollision damage

Core Design Contradiction:

ReliabilityVSObject-affected harmful factors

Solution Approach 1:

The patent implements compliance control that acts as a cushioning mechanism before physical contact occurs. The control system detects proximity to the docking station and reduces drive unit output power in advance, preventing excessive force and potential collision damage while ensuring stable connection. This prior cushioning approach protects the main body from damage during the docking process.

Inventive Principle:

Principle #11Beforehand cushioning (Prior cushioning)

2Object-affected harmful factors

If compliance control is implemented to prevent collision, then the autonomous mobile apparatus is protected from damage, but the connection firmness may be reduced

Engineering Contradiction:

Improvecollision damageVSAvoidconnection stability

Core Design Contradiction:

Object-affected harmful factorsVSReliability

Solution Approach 1:

The patent employs dynamic compliance control that adjusts the drive unit's power output based on real-time docking progress. The control system transitions from normal power output during approach to reduced power output during contact, creating a dynamic response that maintains both protection from damage and achievement of firm connection. This dynamic adjustment ensures connection stability without excessive force.

Inventive Principle:

Principle #15Dynamics

3Productivity

If high power output is used for docking, then the docking process is faster, but the risk of collision and damage increases

Engineering Contradiction:

Improvedocking speedVSAvoidcollision risk

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The patent implements periodic control action where the drive unit operates at high power during the approach phase and switches to compliance control mode with reduced power when proximity is detected. This periodic switching between normal operation and compliance control achieves fast docking while preventing collision damage through timely power reduction.

Inventive Principle:

Principle #19Periodic action

Data Source

PatentUS12189395B2Autonomous mobile apparatus, docking station, and method of controlling same apparatus

Publication Date: 2025.01.07 HYUNDAI MOTOR CO LTD

AI summary

An autonomous mobile apparatus that autonomously docks with a docking station, includes a main body including at least one connection unit connected to the docking station, a drive unit configured to move the main body, and a processor configured to control the drive unit, wherein the processor controls operation of the drive unit in a first mode for causing the main body to move in proximity to the docking station and a second mode for bringing the connection unit into contact with the docking unit of the docking station.