Mobile Apparatus Obstacle Navigation and Displacement Control
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Solution Overview
Problem
Existing robot systems face inefficiencies in securing routes and avoiding obstacles, leading to wasted effort and time, as they often lack confirmation of the feasibility of moving objects out of their path before attempting to navigate.
Innovation Solution
A mobile apparatus equipped with a control device that autonomously determines and adjusts its movement trajectory to avoid obstacles by assessing various moving conditions and object classifications, allowing it to either navigate around or move objects to clear its path effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot attempts to move an object to secure its route without confirming feasibility beforehand, then the route may be secured, but time and effort are wasted
Solution Approach 1:
The control device performs preliminary determination of moving conditions before executing object displacement. It evaluates whether the object can be moved, whether the robot can return to its target trajectory, and whether the object belongs to a movable classification, thereby avoiding wasted time and effort on infeasible movements
Solution Approach 2:
The system uses feedback loops to continuously monitor and re-evaluate moving conditions. After moving an object, the robot determines whether it can return to its current target position trajectory, and adjusts its plan accordingly, ensuring reliable route security while minimizing wasted effort
2Ease of operation
If the robot emits a message prompting the human object to move in a difficult direction, then the human may be prompted to move, but the message becomes inappropriate and counterproductive
Solution Approach 1:
The control device determines in advance whether the object belongs to a classification that can be moved by force from the mobile apparatus. This preliminary classification prevents the robot from issuing inappropriate prompts to humans or immovable objects, ensuring message appropriateness before communication occurs
Solution Approach 2:
The system changes the parameter of object classification to determine appropriate interaction methods. By classifying objects as movable by force or not, the robot adapts its communication and action strategies accordingly, avoiding inappropriate prompts while maintaining ease of operation for suitable objects
Data Source
AI summary
Even when a first moving condition is not satisfied, when it is determined that a second moving condition is satisfied and at the same time an object belongs to a second classification, an operation of a robot is controlled so as to prompt the object to move according to a first pattern or an arbitrary pattern. The “first moving condition” is a condition that the robot is capable of moving without being obstructed by the object when the robot moves according to a current target position trajectory. The “second moving condition” is a condition that the robot is capable of moving according to the current target position trajectory without being obstructed by the object when the object is displaced according to the first pattern. The “second classification” means a classification of the object which is capable of being moved by a force from the robot acting thereon.