Mobile Robot Control for Level-Difference Travel Interruptions
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Solution Overview
Problem
Existing robot control systems mounted on transport vehicles often incorrectly interpret external forces as obstacles, causing the vehicle to stop when traversing level differences, leading to operational interruptions.
Innovation Solution
A robot control device that determines whether the transport vehicle is traveling and selectively stops or allows operation of the robot based on this status, using sensors to differentiate between normal and abnormal external forces, thereby preventing unnecessary stops during level transitions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot control system stops the robot when external force is detected, then safety is improved, but the transport vehicle cannot pass through level differences
Solution Approach 1:
The control system dynamically adjusts robot operation status based on transport vehicle movement state. When the vehicle is traveling, the robot is controlled to stop regardless of external force detection. When the vehicle is stationary, the robot can operate and respond to external force signals. This dynamic adaptation resolves the contradiction by making the stop condition dependent on vehicle state rather than just external force detection.
Solution Approach 2:
The determination unit acts as an intermediary between the external force detection and the robot stop control. It introduces an additional decision layer that checks vehicle travel status before triggering a stop. This intermediary prevents false stop commands during vehicle movement while maintaining safety responsiveness when the vehicle is stationary.
2Measurement precision
If the robot is stopped when the transport vehicle is traveling, then false obstacle detection is prevented, but the robot cannot respond to actual obstacles during vehicle movement
Solution Approach 1:
The system dynamically controls robot operability based on vehicle travel status. During vehicle travel, the robot is stopped to prevent false obstacle detection from vehicle vibrations or movements. When the vehicle is stationary, the robot becomes operational and can accurately detect and respond to real obstacles. This dynamic state-dependent control resolves the contradiction between detection accuracy and response capability.
Data Source
AI summary
A robot control device, which causes a robot mounted on a transport vehicle to be stopped on the basis of an external force applied to the robot, is equipped with a determination unit configured to determine whether or not the transport vehicle is currently traveling, and a control unit configured to cause the robot to be stopped in the case that the transport vehicle is currently traveling, and to enable the robot to be operated in the case that the transport vehicle is not currently traveling.