Autonomous Robot Speed Control for Movable Obstacles
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Solution Overview
Problem
Existing autonomous traveling apparatuses cannot effectively manage obstacles that are movable bodies, as they do not adjust their speed in response to detected obstacles until receiving instructions from a monitoring center, potentially leading to collisions.
Innovation Solution
An autonomous traveling apparatus equipped with a monitoring device, obstacle detection unit, speed control unit, and area setting unit that dynamically adjusts its deceleration area based on obstacle type and distance, allowing for immediate speed reduction upon detecting a movable obstacle without waiting for central instruction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the mobile robot waits for an instruction from the monitoring center upon detecting an obstacle, then the robot can receive centralized control instructions, but the robot may collide with movable obstacles during the waiting period
Solution Approach 1:
The robot performs preliminary speed limitation actions immediately upon detecting an obstacle, before receiving instructions from the monitoring center. The traveling speed is limited to a predetermined value or lower when an obstacle is detected in the monitoring area, ensuring safety during the waiting period for centralized control instructions.
Solution Approach 2:
The robot continuously monitors the monitoring area for obstacles and provides feedback to the control system. When an obstacle is detected, the system adjusts the traveling speed in real-time based on the obstacle's position and movement characteristics, creating a closed-loop control system that responds dynamically to environmental changes.
2Reliability
If the robot limits traveling speed immediately upon obstacle detection, then collision risk is reduced, but the robot cannot respond appropriately to different types of obstacles (movable vs. stationary)
Solution Approach 1:
The robot dynamically adjusts its response based on the detected obstacle's characteristics. The system determines whether an obstacle is movable or stationary and changes the monitoring area and speed limitation accordingly. For movable bodies, the deceleration area is expanded to provide additional safety margin, while for stationary objects, the standard monitoring area suffices.
Solution Approach 2:
The monitoring area is differentiated into different zones based on obstacle type. When a movable body is detected, a deceleration area is established between the normal monitoring area and the robot, creating a localized safety zone with different operational characteristics than the standard monitoring area.
3Loss of time
If the monitoring area is expanded to detect obstacles earlier, then response time is improved, but the robot requires more space to operate and may be overly cautious
Solution Approach 1:
The monitoring area dynamically changes size based on the detected obstacle type. For movable bodies, the deceleration area is expanded to provide earlier detection and longer response time. For stationary objects, the monitoring area remains at the standard size, avoiding unnecessary space requirements and excessive caution.
Data Source
AI summary
In an autonomous traveling apparatus, a normal traveling area and a deceleration area are set for a monitoring area in an area setting unit. A speed control unit limits a traveling speed of an apparatus main body on the basis of the monitoring area set in the area setting unit and a distance from the apparatus main body to an obstacle within the monitoring area if the obstacle present within the monitoring area is detected. If the obstacle is a movable body, an area change unit changes the deceleration area within the monitoring area that is set in the area setting unit to a deceleration area for movable body. This configuration makes it possible to support even a case where an obstacle is a movable body, in limiting the traveling speed in response to obstacle detection.