Integrated Perception Mast for Mobile Manipulator Robots
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Solution Overview
Problem
Conventional mobile manipulator robots in warehouse and logistics operations are inefficient and inflexible due to their loosely integrated systems, where the mobile base and manipulator operate independently, leading to suboptimal speeds and trajectories, and struggle to perform complex or dynamic motions, which limits their ability to perform a variety of tasks with speed, agility, and efficiency.
Innovation Solution
A highly integrated mobile manipulator robot with a system-level mechanical design and holistic control strategies between the manipulator and the mobile base, featuring a perception mast with multiple perception modules and control circuitry that coordinates the rotation of the perception mast and turntable to capture images during motion, enabling simultaneous task planning and execution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the mobile base and manipulator operate independently with loosely integrated systems, then the robot can perform basic tasks, but the speed and trajectory optimization is suboptimal
Solution Approach 1:
The patent merges the mobile base and manipulator into a highly integrated mobile manipulator robot where the systems are no longer independent. The control circuitry coordinates the turntable rotation, perception mast rotation, and manipulator movement as a unified system, enabling optimized trajectories and parallel task execution that improves productivity while managing complexity through integrated control.
Solution Approach 2:
The system implements dynamic coordination where the control circuitry continuously adjusts the rotation speeds and trajectories of the turntable and perception mast based on real-time conditions. The perception mast can rotate at variable speeds independent of the turntable, allowing adaptive optimization of task execution speed while maintaining system stability.
2Adaptability or versatility
If the robot performs complex or dynamic motions, then task versatility improves, but system stability and control precision deteriorate
Solution Approach 1:
The patent segments the rotation control into independent controllable units: the turntable rotation and the perception mast rotation. Each can be controlled independently by the control circuitry, allowing complex coordinated motions while maintaining stable control of each component. This segmentation enables versatile task performance while preserving control reliability through modular control architecture.
Solution Approach 2:
The perception mast serves multiple functions: it houses perception modules for environmental sensing, acts as a structural support, and provides a mounting platform for multiple sensors. This multi-functionality increases task versatility while the standardized mounting and control interface maintain system reliability and ease of operation.
3Productivity
If images are captured during robot motion, then operational efficiency improves, but image quality and measurement precision may worsen
Solution Approach 1:
The perception mast is positioned and oriented in advance to capture images from optimal angles during robot motion. The control circuitry pre-coordinates the perception mast rotation to align with the desired capture directions before motion begins, ensuring that images can be captured during movement without compromising quality. This preliminary positioning enables on-the-fly image capture while maintaining measurement precision.
Solution Approach 2:
The perception modules on the perception mast provide real-time feedback about the environment and robot position during motion. The control circuitry uses this feedback to dynamically adjust the perception mast rotation and camera parameters, compensating for motion effects and maintaining image quality. This closed-loop control enables high-speed operation with preserved measurement precision.
Data Source
AI summary
A perception mast for mobile robot is provided. The mobile robot comprises a mobile base, a turntable operatively coupled to the mobile base, the turntable configured to rotate about a first axis, an arm operatively coupled to a first location on the turntable, and the perception mast operatively coupled to a second location on the turntable, the perception mast configured to rotate about a second axis parallel to the first axis, wherein the perception mast includes disposed thereon, a first perception module and a second perception module arranged between the first imaging module and the turntable.