Autonomous Mobile Robot Holding Mode for Obstruction Handling
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Solution Overview
Problem
In order fulfillment processes, autonomous mobile robots face inefficiencies when navigating to poses obstructed by objects, leading to delays and reduced productivity, as they must wait for obstacles to clear before completing tasks.
Innovation Solution
The robots are equipped with a holding mode that allows human operators to take manual control, enabling them to pause or bypass obstructed poses, using visual signals like colored lights to indicate their status, allowing for immediate task completion by the operator without waiting for the robot to reach the intended location.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the robot autonomously navigates to obstructed poses, then navigation automation is maintained, but task completion time increases due to waiting for obstacles to clear
Solution Approach 1:
The robot dynamically transitions between autonomous navigation mode and manual control mode based on obstacle detection. When an obstruction is detected at the target pose, the system automatically offers manual control to the human operator, allowing flexible adaptation to unexpected situations while maintaining overall automation for unobstructed navigation.
Solution Approach 2:
A human operator serves as an intermediary when autonomous navigation encounters obstacles. The operator can manually position the robot or perform tasks that the autonomous system cannot complete due to obstructions, bridging the gap between automated navigation capabilities and complex real-world scenarios.
2Reliability
If the robot waits for obstacles to clear before completing tasks, then collision avoidance is maintained, but productivity decreases
Solution Approach 1:
The system dynamically adjusts its operational mode based on the presence of obstacles. Rather than passively waiting for obstacles to clear, the robot actively transitions to offering manual control, enabling continuous productivity while maintaining safety through the operator's awareness of the environment.
Solution Approach 2:
The robot autonomously detects obstacles and self-corrects by offering manual control to the operator, rather than requiring external intervention. This self-service capability allows the system to maintain productivity by quickly transitioning to a mode where human judgment can resolve the obstruction issue.
3Adaptability or versatility
If the robot operates in holding mode with manual control options, then operational flexibility increases, but system complexity increases
Solution Approach 1:
The control system is segmented into distinct operational modes (autonomous navigation mode and manual control mode). This segmentation allows the system to maintain simple autonomous operation for routine tasks while providing complex manual control options only when needed, reducing the perceived complexity for most operations.
Solution Approach 2:
The holding mode serves multiple functions: it allows the operator to take manual control, to pause and assess the situation, or to bypass the obstructed pose entirely. This multi-functionality consolidates several potential control mechanisms into a single versatile holding mode, managing system complexity while maintaining flexibility.
Data Source
AI summary
A method for performing tasks on items located in a space using a robot, includes receiving an order to perform a task on at least one item and obtaining a pose associated with the at least one item. The pose is in a coordinate system defined by the space and the pose is where the task is to be performed on the at least one item. The method includes navigating the robot toward the pose associated with the at least one item and detecting, when in proximity to the pose, if the pose is obstructed by an object. If the pose is obstructed by an object, halting the robot at a location spaced from the pose and then causing the robot to provide a first signal indicating that the robot is in a holding mode at the location spaced from the pose.