Autonomous Mobile Robot Force-Sensing Repositioning Control
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Solution Overview
Problem
Existing autonomous mobile devices (AMDs) require users to issue explicit commands for repositioning, which can be time-consuming and impair the user's ability to use physical space effectively, especially when the AMD is blocking the path or needs to be moved quickly.
Innovation Solution
A motion control module that dynamically transitions between autonomous movement and user-controlled repositioning modes by detecting external applied forces through sensors, allowing the AMD to be manually repositioned while constraining its motion and reverting to autonomous mode when the force is removed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the AMD requires explicit commands for repositioning, then the autonomous control is maintained, but the user experience deteriorates due to time-consuming operations and impaired mobility
Solution Approach 1:
The control system dynamically transitions between autonomous mode and manual repositioning mode based on detected external forces. When a user applies force to the AMD, the system switches from autonomous navigation to manual repositioning, allowing quick intervention without permanent complexity. This dynamic adaptation resolves the contradiction by enabling fast repositioning only when needed.
Solution Approach 2:
The AMD detects external applied forces through its sensors and automatically switches control modes without requiring explicit user commands. The system serves itself by autonomously detecting when manual intervention is needed and transitioning to a mode that allows direct physical manipulation, thereby improving repositioning speed without adding operational complexity for the user.
2Ease of operation
If the AMD allows free movement during manual repositioning, then the ease of operation improves, but the safety deteriorates due to uncontrolled motion
Solution Approach 1:
Before allowing manual repositioning, the system preemptively deactivates the autonomous navigation functions that could conflict with user control. Additionally, motion constraints are pre-configured to limit the AMD's movement during manual mode, preventing unsafe or excessive motion while still allowing the user to reposition the device easily.
Solution Approach 2:
The system changes the motion control parameters when transitioning from autonomous to manual mode. Motion constraints are adjusted to allow user-directed movement while preventing unsafe motion. The braking force parameters are modified to provide appropriate resistance during manual repositioning, balancing ease of operation with safety.
3Adaptability or versatility
If the AMD transitions between autonomous and manual modes, then the adaptability improves, but the device complexity increases due to mode switching mechanisms
Solution Approach 1:
The AMD uses its existing force sensors to automatically detect when external forces are applied and switches control modes based on this detection. The system serves itself by autonomously determining when to transition between autonomous and manual modes without requiring additional complex control mechanisms or user input, thereby achieving adaptability with minimal added complexity.
Solution Approach 2:
The patent replaces complex mechanical mode-switching mechanisms with a sensor-based detection system. The force sensors electronically detect external forces and trigger mode transitions through software control, substituting mechanical complexity with electronic sensing and control logic, thereby achieving mode flexibility with reduced overall system complexity.
4Manufacturing precision
If the AMD applies strong braking force during manual repositioning, then the motion control precision improves, but the ease of operation deteriorates due to resistance to movement
Solution Approach 1:
The braking force is dynamically adjusted during manual repositioning based on the detected external force magnitude and motion state. The system applies stronger braking when higher precision is needed and reduces braking resistance when the user needs to move the AMD quickly, creating a dynamic balance between control precision and operational ease.
Solution Approach 2:
The motion control parameters including braking force are changed based on the operational context. The system adjusts the braking parameter to provide appropriate resistance during manual repositioning, balancing the need for motion control precision with the user's ability to easily reposition the device.
Data Source
AI summary
An autonomous mobile device (AMD) operating in a first mode moves within a physical space to perform various tasks such as displaying information on a screen, following a user, and so forth. The first mode may involve the AMD moving or maintaining a particular pose. While the AMD is in the first mode, a user may apply an external force to the AMD to reposition the AMD to a desired pose. Application of this external force on the AMD is detected and results in the AMD transitioning to a second mode in which the AMD may be repositioned. While in the second mode, the user may reposition the AMD. The second mode may constrain the magnitude of the resulting movement, preventing the user from moving the AMD too quickly which could damage components within the AMD. Once the external force ceases, the AMD may transition back to the first mode.