Autonomous Robot Brake Self-Test Using Wheel Motion Thresholds
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Solution Overview
Problem
Delivery devices face challenges in reliably testing their braking systems without human intervention, which is crucial for ensuring safety in encountering various hazards such as weather, road, and traffic hazards.
Innovation Solution
An automated power-on self-test system for the braking system of delivery devices, which engages or disengages the braking mechanism based on power status and performance, allowing the device to operate only when the test is successful, and indicating failure through light sources or communication to maintenance systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If automated power-on self-test is implemented for braking systems, then reliability of braking system testing is improved, but device complexity increases
Solution Approach 1:
The braking system performs self-testing automatically upon power-on without requiring external human intervention. The controller initiates the test sequence, activates the brake module, monitors the rotation sensor feedback, and determines test results autonomously, enabling the system to service itself.
Solution Approach 2:
The patent replaces manual mechanical testing procedures with an automated electronic control system that uses electronic sensors (rotation sensor), electronic actuators (brake module), and software logic to perform the braking system test, substituting human-operated mechanical processes with electronic automation.
2Extent of automation
If automated power-on self-test is implemented for braking systems, then human intervention requirement is reduced, but manufacturing complexity increases
Solution Approach 1:
The controller serves multiple functions: it controls the delivery device's normal operation, manages the braking system activation, initiates the power-on self-test sequence, monitors sensor feedback during testing, and determines test results. This multi-functionality reduces the need for separate dedicated testing hardware.
Solution Approach 2:
The system uses its own existing components (controller, brake module, rotation sensor) to perform the testing function, rather than requiring separate external testing equipment. The braking system tests itself using resources already available in the delivery device.
3Reliability
If braking system test is performed before operation, then safety is improved, but operational time is reduced
Solution Approach 1:
The braking system test is performed as a power-on self-test immediately when the delivery device is powered on, before normal operation begins. This preliminary action ensures the braking system is functional before the device is deployed, preventing safety issues during operation.
Solution Approach 2:
The test sequence is designed to execute quickly during the power-on initialization phase, rushing through the essential testing steps (activate brake, check sensor feedback, determine pass/fail) without unnecessary delays, minimizing the time impact on overall operational availability.
Data Source
AI summary
Techniques and apparatus for performing a power-on self-test for a braking system in an autonomous delivery robot are described. One technique includes moving each wheel of the autonomous delivery robot in a first direction in accordance with predefined criteria, while brake module(s) of the braking system are engaged to one or more of the wheels to stop movement of the one or more wheels. A first amount of movement of at least a first wheel that is engaged to a first brake module is determined. Upon determining that the first amount of movement satisfies a predetermined condition, a determination is made that the braking system has failed the test and the brake module(s) of the braking system are kept in an engaged state.