Coordinated Movement Robot Control Using Shared Route Maps
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Solution Overview
Problem
Conventional self-propelling movement robots are limited in their operational flexibility and utilization area as they cannot adapt to changes in the motion of moving objects or individuals, restricting their ability to perform various tasks effectively.
Innovation Solution
The movement robot incorporates a control unit that stores and coordinates movement routes for both itself and other moving bodies, allowing it to adjust its path to follow, diverge from, or lead other moving bodies, using a combination of wide and high-resolution maps to detect changes in the environment and working regions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot stores only its own movement route on the map, then the control system remains simple, but the robot cannot adapt to changes in movement bodies or perform coordinated operations
Solution Approach 1:
The control unit is segmented into distinct functional modules: map production section that generates occupancy grid maps, movement body detection section that identifies moving objects, robot route information storage section that stores the robot's own route, and movement body route information storage section that stores detected movement body routes. This modular segmentation enables the robot to track and coordinate with movement bodies while maintaining organized, manageable system complexity.
2Adaptability or versatility
If the robot moves along a fixed movement route, then the movement control is simple and reliable, but the robot cannot respond to changes in the movement body's position or perform dynamic operations
Solution Approach 1:
The movement route is transformed from a static, fixed path to a dynamic route that adapts in real-time based on detected movement body positions. The robot continuously updates its movement route information by comparing it with stored movement body route information, allowing the robot to dynamically adjust its path while maintaining reliable movement control through systematic route management and comparison processes.
3Measurement precision
If the robot uses high-resolution maps for precise detection, then the detection precision improves, but the data storage and processing requirements increase
Solution Approach 1:
The map system uses occupancy grid maps that provide localized, cell-based representation of the environment with precision focused on relevant areas. Each cell in the grid map stores occupancy information, allowing high detection precision in the robot's immediate vicinity while avoiding the need to store and process excessively detailed information about the entire environment, thus balancing detection precision with manageable data storage requirements.
Data Source
AI summary
Provided is a movement robot configured so that various types of operation can be executed according to motion of other objects or a movement body and a utilization area can be expanded accordingly. The movement robot includes a robot body 1, a control unit 2, a traveling unit 3, and a detection unit 4. The control unit 2 includes a storage section 30 configured to store detection information detected by the detection unit 4 in chronological order, a map production section 25 configured to produce a map of the periphery of the robot body 1, a movement body detection section 291 configured to detect a movement body 100 different from the robot body 1, a route control section 26 configured to associate the map with robot route information 32 indicating a movement route of the robot body 1 and movement body route information 33 indicating a movement route of the movement body 100, and an coordinated movement control section 28 configured to move the robot body 1 in coordination with the movement body 100 based on the robot route information 32 and the movement body route information 33.