Autonomous Mobile Robot Haptic Guidance With Force-Vector Control
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Solution Overview
Problem
Existing autonomous and semi-autonomous robots lack effective mechanisms for human interaction and control, particularly in environments where human workers need to operate them without specific devices, leading to inefficiencies and safety concerns.
Innovation Solution
Integration of haptic feedback into the mechanical drive unit of autonomous mobile robots, allowing for intuitive user control through force sensors and omnidirectional movement, with features like virtual rail alignment and obstacle avoidance, and the ability to switch between autonomous and user-guided modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If graphical user interface control is used for autonomous robots, then user control capability is provided, but user accessibility and ease of operation are reduced for workers without specific devices
Solution Approach 1:
The patent replaces traditional graphical user interface control with direct mechanical force sensing through a handlebar. Workers can control the robot by physically pushing or pulling the handlebar, eliminating the need for screens, buttons, or complex interfaces. This mechanical substitution makes the control system accessible to any worker without specialized training or equipment.
Solution Approach 2:
The robot autonomously interprets and executes commands based on physical forces applied to the handlebar. The force sensor detects the direction and magnitude of pushes or pulls, and the robot's control system automatically translates these inputs into appropriate navigation actions, eliminating the need for manual interface operation.
2Measurement precision
If haptic feedback is added to the mechanical drive unit, then user control precision and feedback are improved, but device complexity increases
Solution Approach 1:
The patent combines the haptic feedback mechanism with the existing mechanical drive unit. The force sensors that detect user input are integrated into the same mechanical structure that provides propulsion and movement. This merging allows the drive unit to serve dual purposes: generating motion and providing haptic feedback, thereby reducing overall system complexity rather than increasing it.
Solution Approach 2:
The mechanical drive unit is designed to perform multiple functions: it provides omnidirectional movement capability and simultaneously serves as the haptic feedback interface. The force sensors integrated into the drive unit detect both the user's control inputs and provide tactile resistance, making the system more efficient and less complex than separate control and feedback mechanisms.
3Adaptability or versatility
If force sensors are integrated into the handlebar, then user input detection capability is improved, but manufacturing complexity increases
Solution Approach 1:
The patent employs force sensors that detect changes in physical parameters (force magnitude and direction) applied to the handlebar. By focusing on measuring fundamental mechanical parameters rather than complex inputs, the system achieves versatile user input detection while maintaining manufacturing simplicity. The sensors measure basic force vectors that can be processed to determine various user intentions.
Data Source
AI summary
An omnidirectional mechanical drive unit in a robot may be controlled by a processor. An input message characterizing a physical force exerted on a force sensor in a first direction may be received. A physical force input vector quantifying the physical force in two or more dimensions may be determined based on the input message. Upon determining that a triggering condition for navigational feedback is satisfied, a haptic force input vector for provide haptic navigational feedback via the omnidirectional mechanical drive unit may be determined. A force output vector aggregating the physical force input vector and the haptic force input vector may be determined. The force output vector may quantify a force to apply to move the robot in a second direction. An indication of the force output vector may be transmitted to the omnidirectional mechanical drive unit. The robot may be moved based on the force output vector.