Mobile Robot Control System Mode Switching Safety
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Solution Overview
Problem
Mobile robots capable of switching between autonomous and user operation modes may perform unintended movements due to unnecessary operation inputs when users switch modes using an operation device.
Innovation Solution
A control system and operation device that include a movement operation unit and a switching operation unit, with a control unit that determines whether to accept moving operations based on the current mode and switching signals, preventing unintended movements by switching modes appropriately when detecting changes in the switching signal.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the mobile robot accepts moving operations during mode switching, then the user can quickly switch between autonomous and manual modes, but unintended movements may occur due to unnecessary operation inputs
Solution Approach 1:
The control unit detects changes in the switching signal before the mode switching is completed, and proactively determines whether to accept moving operations during the transition period. This preliminary detection and decision-making prevents unintended movements while maintaining smooth mode switching.
Solution Approach 2:
The control unit dynamically adjusts the acceptance state of moving operations based on the real-time switching signal status. During mode switching transitions, the control unit can temporarily reject moving operations or selectively accept them based on the detected switching signal changes, providing adaptive control during the transition period.
2Reliability
If the control unit rejects all moving operations during mode switching, then unintended movements are prevented, but the mode switching process becomes slower
Solution Approach 1:
The control unit applies different operation acceptance policies to different phases of the mode switching process. By detecting specific changes in the switching signal, the control unit selectively rejects moving operations only during the critical transition period when unintended movements are most likely, while allowing operations during safe phases of switching.
Solution Approach 2:
The control unit monitors changes in the switching signal parameter and adjusts the acceptance state of moving operations accordingly. When the switching signal indicates an active transition phase, the control unit modifies its behavior to prevent unintended movements, thereby balancing reliability with switching speed.
3Speed
If the mobile robot switches modes immediately upon detecting switching signal changes, then the response is fast, but unnecessary operations during switching may cause unintended movements
Solution Approach 1:
The control unit detects changes in the switching signal and preemptively determines whether to accept moving operations before the mode switching is fully completed. This preliminary anti-action prevents unnecessary operations from causing unintended movements during the switching transition, while maintaining fast response through early detection.
Solution Approach 2:
The control unit continuously monitors the switching signal and uses this feedback to dynamically adjust the acceptance state of moving operations. By detecting switching signal changes and responding appropriately, the control unit prevents unintended movements while maintaining fast mode switching response.
Data Source
AI summary
A control system according to the present disclosure includes an operation device and a control unit. The operation device includes a movement operation unit configured to accept a moving operation for moving a mobile robot and a switching operation unit configured to accept an operation for switching the modes between the autonomous moving mode and the user operation mode. The control unit switches whether or not to accept the moving operation by the movement operation unit based on information indicating which one of the autonomous moving mode and the user operation mode the mobile robot is in and a change in a switching signal in response to the switching operation.