Mobile Vehicle Path Control Using a Virtual User-Obstacle Line
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Solution Overview
Problem
Existing autonomous mobile robots require manual monitoring and high manipulation skills to navigate safely and avoid obstacles, posing risks of collision and injury, and are inconvenient for users.
Innovation Solution
A method and system that control a mobile vehicle based on a line between the vehicle and a user, defining a first line, determining obstacle positions and sizes, generating a virtual obstacle, and adjusting the vehicle's path to avoid obstacles, allowing intuitive control and flexible movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If autonomous mobile robots are equipped with autonomous navigation functions, then the robots can move to desired locations automatically, but the user must manually monitor the movement at all times to prevent collision and injury
Solution Approach 1:
The patent introduces a virtual string as an intermediary between the user and the mobile robot. This virtual string creates a virtual boundary that the robot automatically respects, eliminating the need for continuous manual monitoring while preserving user control. The string acts as a mediator that translates user intent into automatic obstacle avoidance behavior.
Solution Approach 2:
The system performs preliminary action by pre-defining the virtual string boundary before the robot begins autonomous movement. By establishing the virtual constraint in advance, the robot can autonomously navigate within the defined space without requiring real-time user intervention, thus resolving the contradiction between automation and manual monitoring.
2Reliability
If the mobile vehicle autonomously avoids obstacles, then collision risk is reduced, but the user requires high manipulation technology to control the vehicle at intended speed and direction
Solution Approach 1:
The virtual string serves as a mediator that simplifies user control. Instead of requiring complex manipulation skills for obstacle avoidance, the user simply needs to define the virtual string boundary, and the system automatically handles the complex avoidance maneuvers, thus reducing both collision risk and manipulation skill requirements.
Solution Approach 2:
The mobile robot performs self-service by autonomously navigating around obstacles within the virtual string boundary without user intervention. The robot independently detects and avoids obstacles while maintaining movement toward the target, eliminating the need for high-level manipulation skills from the user.
3Ease of operation
If the mobile vehicle moves flexibly under user direction, then user convenience is improved, but the vehicle may collide with obstacles without proper monitoring
Solution Approach 1:
The virtual string acts as an intermediary safety mechanism that enables flexible user-directed movement while preventing collisions. The robot moves freely within the virtual boundary defined by the string, providing user convenience while the string boundary automatically prevents collision with obstacles beyond the boundary.
Data Source
AI summary
A mobile vehicle and a method of controlling the mobile vehicle are provided. The method of controlling the mobile vehicle includes defining a first line between the mobile vehicle and the user, determining a position and a size of each of at least one obstacle having a predetermined relationship with the first line, defining a second line based on the first line, the position of the at least one obstacle, and the size of the at least one obstacle, and controlling the mobile vehicle according to a direction and a size of an external force on the second line.