Mobile Body Formation Control With Convoy-to-Rotation Switching

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Solution Overview

Problem

In existing mobile body systems, multiple users have difficulty facing the same object simultaneously due to continuous formation travel, which burdens users with maintaining lateral orientation while observing objects like in an art museum.

Innovation Solution

A control device and method that allows switching between convoy and rotation modes, enabling leaders to perform various movements and followers to rotate, facilitating users to temporarily orient their mobile bodies towards the object.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Stability of the object's composition

If mobile bodies continuously travel in a formation, then the formation structure is maintained, but users have difficulty facing the same object simultaneously

Engineering Contradiction:

Improveformation structureVSAvoiduser ability to face same object

Core Design Contradiction:

Stability of the object's compositionVSEase of operation

Solution Approach 1:

The system dynamically switches between convoy mode (maintaining formation) and rotation mode (allowing individual orientation). The travel mode is not fixed but can change based on operational needs, enabling the formation to maintain stability when moving while allowing users to face objects when stationary or rotating

Inventive Principle:

Principle #15Dynamics

2Stability of the object's composition

If mobile bodies travel in convoy mode, then formation stability is maintained, but user experience for observing objects is degraded

Engineering Contradiction:

Improveformation stabilityVSAvoiduser experience adaptability

Core Design Contradiction:

Stability of the object's compositionVSAdaptability or versatility

Solution Approach 1:

The system alternates between convoy mode and rotation mode periodically. During convoy mode, formation stability is maintained; during rotation mode, users can orient their mobile bodies to face objects. This periodic switching between modes allows the system to satisfy both formation stability requirements and user experience needs at different times

Inventive Principle:

Principle #19Periodic action

3Stability of the object's composition

If followers perform only rotation, then formation structure is preserved, but followers cannot move independently towards objects

Engineering Contradiction:

Improveformation integrityVSAvoidfollower mobility

Core Design Contradiction:

Stability of the object's compositionVSAdaptability or versatility

Solution Approach 1:

The mobility permissions for followers are dynamic rather than static. In convoy mode, followers are constrained to rotation only to maintain formation. In rotation mode, followers gain full mobility including forward and backward movement. This dynamic permission system allows followers to adapt their movement capabilities based on the current operational mode

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS20260099158A1Control device, mobile body, control method, and recording medium

Publication Date: 2026.04.09 PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO LTD

AI summary

A control device includes: a storage that stores formation information indicating whether a first mobile body is a leader or a follower; and a controller that controls traveling of the first mobile body in a travel mode according to the formation information stored, the travel mode including a convoy mode and a rotation mode. The convoy mode is a travel mode in which mobile bodies travel in a formation. The rotation mode is a travel mode that permits the leader to perform any of types of traveling and permits the follower to perform only a rotation among the types of traveling. When the travel mode is to be switched to the rotation mode, the controller switches the travel mode from the convoy mode to the rotation mode.