Paired Mobile Robot Control for Narrow-Space Stable Handling

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Solution Overview

Problem

Existing mobile robotic systems face limitations in stability and versatility due to their size and mobility constraints, which restrict their ability to perform tasks requiring multiple robotic manipulators or stability, especially in narrow environments like nuclear power plants or warehouses, where they need to navigate through tight spaces and handle heavy or complex objects.

Innovation Solution

A unified robotic system comprising a master robotic system and two mobile platforms that can operate in paired or unpaired control modes, allowing coordinated movement and manipulation, with the ability to switch between modes for different tasks, and featuring a stabilizing robotic system for enhanced stability and flexibility.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a mobile robotic system is designed with a compact size to navigate through narrow passageways, then its mobility and adaptability to confined spaces are improved, but its stability and load-bearing capacity deteriorate

Engineering Contradiction:

Improveability to navigate narrow passagewaysVSAvoidstability when handling heavy objects

Core Design Contradiction:

Adaptability or versatilityVSStability of the object's composition

Solution Approach 1:

The patent combines multiple mobile robotic systems into a unified robotic system where platforms can couple together to form a stable base. When handling heavy objects, multiple platforms merge their resources and support structures, providing enhanced stability while maintaining the individual compact size needed for navigating narrow passageways independently.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The robotic system dynamically adjusts its configuration based on task requirements. For navigation in narrow spaces, platforms operate independently in compact form. For stable object handling, platforms couple together to form a larger, more stable unified base, allowing the system to transition between states to resolve the stability-mobility contradiction.

Inventive Principle:

Principle #15Dynamics

2Device complexity

If a single mobile platform is used to reduce system complexity, then device complexity is reduced, but the ability to perform complex tasks requiring multiple manipulators deteriorates

Engineering Contradiction:

Improvesystem structure simplicityVSAvoidability to perform complex manipulation tasks

Core Design Contradiction:

Device complexityVSAdaptability or versatility

Solution Approach 1:

The system is segmented into multiple independent mobile platforms, each capable of autonomous operation. This segmentation allows complex manipulation tasks to be distributed across multiple platforms with their own manipulators, while each platform maintains relatively simple individual architecture. The platforms can operate independently or coordinate as a unified system based on task requirements.

Inventive Principle:

Principle #1Segmentation

Data Source

PatentUS11794345B2Unified robotic vehicle systems and methods of control

Publication Date: 2023.10.24 SARCOS CORP

AI summary

A robotic system comprising a master robotic system, and a first robotic system comprising a first mobile platform operable to move about a surface, and comprising a first manipulator. The robotic system can comprise a second robotic system comprising a second mobile platform operable to move about the surface, and comprising a second manipulator. A control module can be associated with the master robotic system and the first and second robotic systems, and can be operable in a paired control mode to facilitate paired control of the first and second robotic systems to move about the ground surface, and operable in an unpaired control mode to facilitate non-paired control of a selected one of the first or second robotic systems.