Mobile Robot Elevator Coordination Using Orientation-Based Standby
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Solution Overview
Problem
Mobile robots incorrectly detect their own position when riding an elevator, leading to potential collisions due to insufficient distance between them.
Innovation Solution
A robot control system that controls mobile robots to enter and exit an elevator efficiently by pivoting and orienting them differently within a standby region, using virtual bumpers to prevent collisions, and employing a host management apparatus for coordinated movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple mobile robots ride an elevator simultaneously to improve efficiency, then productivity increases, but the risk of collision increases due to incorrect position detection
Solution Approach 1:
A host management apparatus serves as an intermediary between multiple mobile robots and the elevator system. It centrally manages robot positions, determines alighting orders based on destination floors, and coordinates robot movements to prevent collisions while maximizing elevator utilization
Solution Approach 2:
The system performs preliminary actions by determining the alighting order of robots before they enter the elevator, and by controlling robots to stand by in specific orientations and positions within the elevator car before movement begins, ensuring safe and efficient operation
2Productivity
If mobile robots maintain short distances to maximize elevator space utilization, then productivity improves, but measurement precision of robot positions deteriorates leading to detection errors
Solution Approach 1:
The host management apparatus acts as a central intermediary that accurately tracks and manages the positions of all robots within the elevator, compensating for individual robot detection errors through centralized coordination and precise position management
Solution Approach 2:
The system dynamically adjusts robot positions and orientations within the elevator based on real-time conditions, allowing robots to be arranged in different configurations (standing by in sequence, different orientations) to optimize both space utilization and position detection accuracy
3Ease of operation
If mobile robots enter the elevator in any orientation to simplify operation, then ease of operation improves, but device complexity increases due to need for coordination control
Solution Approach 1:
The control process is segmented into distinct phases: entry phase where robots can enter freely, positioning phase where robots stand by in controlled orientations, and exit phase where robots leave in determined order. This segmentation simplifies operation while managing complexity through structured control stages
Data Source
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AI summary
A robot control system according to the present embodiment is a robot control system that includes a plurality of mobile robots each having a longitudinal direction and a lateral direction in a top view. The robot control system includes a mobile robot (20A) that enters a preset standby region and stands by in the standby region (S1) after the mobile robot (20) has pivoted so that the lateral direction extends along a first direction, and a mobile robot (20B) that enters the standby region (S1) that the mobile robot (20A) has entered to stand by in a state in which the longitudinal direction extends along the first direction. Control may be performed by using a machine learning model generated through supervised learning or the like.