Elevator Boarding Route Control for Collision-Avoiding Mobile Robots
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Solution Overview
Problem
Autonomous mobile objects, such as robots, may collide with walls near elevators during turns due to lack of consideration for positional relationships with obstacles, as seen in existing techniques.
Innovation Solution
An autonomous mobile object control method that determines and follows a controlled approach route to a starting point outside the elevator and a boarding route to an endpoint inside the elevator, using ranging sensors and a control system to avoid obstacles and adjust orientation, ensuring safe and autonomous entry into the elevator.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot makes a turn to match the orientation of the elevator at the time of boarding or unboarding, then the boarding or unboarding operation becomes smooth, but the robot may collide with the wall surface near the elevator
Solution Approach 1:
The patent divides the boarding process into two distinct phases: approach route (from starting point to elevator entrance) and boarding route (from elevator entrance to destination point inside elevator). Each phase has its own control method, allowing the robot to optimize turning behavior for smooth boarding while preventing collisions during the approach phase by using obstacle avoidance control.
Solution Approach 2:
The patent performs preliminary obstacle detection and route planning before the robot begins its approach to the elevator. By detecting obstacles in advance and determining a safe approach route that avoids walls and other obstacles, the system prevents collision before it can occur during the turning and boarding maneuver.
2Device complexity
If the robot follows a simple turning control to match elevator orientation, then the control system remains simple, but the robot cannot account for positional relationships with obstacles
Solution Approach 1:
The patent implements dynamic control by switching between different control modes based on the robot's position and task phase. The control system dynamically adjusts between approach route control (with obstacle avoidance) and boarding route control (with orientation matching), allowing the system to remain simple when possible while adding complexity only when needed for safety.
Solution Approach 2:
The patent introduces an intermediary route determination step that acts as a mediator between the simple turning control and obstacle avoidance requirements. The route determination unit calculates a safe approach route that considers obstacle positions, serving as an intermediary layer that translates simple orientation requirements into safe, obstacle-aware navigation paths.
Data Source
AI summary
An autonomous mobile object control method according to the present disclosure is an autonomous mobile object control method for controlling a driving unit that causes a body to move, the autonomous mobile object control method including: a first step of determining an approach route that is a route to be followed by the autonomous mobile object to a starting point outside an elevator, and of moving the body by controlling the driving unit based on the approach route; and a second step of determining a boarding route that is a route to be followed by the autonomous mobile object from the starting point to an end point inside the elevator, and of moving the body by controlling the driving unit based on the boarding route.