Coordinated Movement Robot Control for Dynamic Route Tracking
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Solution Overview
Problem
Typical movement robots struggle to perform various operations in response to the motion of movable bodies, limiting their utilization area due to their inability to adapt to changes in the movement route of the target person.
Innovation Solution
The movement robot is equipped with a control unit that includes a detection unit for surrounding objects, an instruction receiver for selecting operation modes, and a coordinated movement control section that adjusts the robot's movement route based on the detected movement body route information, allowing for efficient coordination with the movement body.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the movement robot stores the location of the movement body as a fixed point on the map and moves along the movement route toward such a point, then the robot can follow the movement body, but the robot cannot perform optional operation when the movement body has moved
Solution Approach 1:
The patent applies dynamics by transforming the static map point into a dynamic movement route. Instead of storing only the final location of the movement body as a fixed point, the system stores the complete movement route information that updates as the movement body moves. This allows the follower robot to adapt its route dynamically while maintaining continuous tracking capability.
Solution Approach 2:
The patent implements feedback by continuously detecting the movement body's new location and comparing it with the stored route information. The system receives detection information about the movement body's current position, updates the movement route accordingly, and uses this updated information to guide the follower robot's movement, creating a closed-loop control system.
2Productivity
If the robot follows a predetermined movement route to a fixed point, then the movement route can be calculated in advance, but the robot cannot respond to various types of motion of the movement body
Solution Approach 1:
The patent applies preliminary action by calculating and storing the movement route in advance based on the movement body's detected location. The system prepares the route information before the follower robot begins movement, allowing for efficient navigation while maintaining the flexibility to update the route as the movement body moves to new positions.
Solution Approach 2:
The system transforms the static predetermined route into a dynamic adaptive route. The movement route is initially calculated in advance but can be updated as the movement body changes position, allowing the robot to maintain both movement efficiency and adaptability to various motions.
3Measurement precision
If the robot uses SLAM technique to estimate self-location and determine presence or absence of objects, then the robot can produce occupancy grid map, but the utilization area is limited when the movement body moves
Solution Approach 1:
The patent implements feedback by continuously updating the occupancy grid map with new detection information as the movement body moves. The system compares the newly produced occupancy grid map with the previously stored map, detects changes in the movement body's location, and updates the movement route accordingly, enabling the robot to expand its utilization area while maintaining accurate self-location estimation.
Data Source
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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.