Mobile Robot Motion Assessment for Safe Recovery in Surroundings
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Solution Overview
Problem
Existing mobile entities, such as robots, cannot determine in advance whether a scheduled motion, like returning from a fallen state, considers the surrounding environment, leading to improper recovery and potential collisions or falls.
Innovation Solution
Incorporating a position decision unit, environment information acquisition unit, and motion determination unit to assess the environment and determine if a scheduled motion can be safely executed, adjusting the motion accordingly based on acquired information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the mobile entity executes a predetermined motion pattern (such as rising from fallen state) without environmental assessment, then the motion execution speed is high and simple, but the reliability of motion execution deteriorates because the motion may not be appropriate for the surrounding environment
Solution Approach 1:
The motion determination unit performs preliminary assessment of the surrounding environment before the mobile entity executes a motion pattern. The system acquires environment information (such as distances to obstacles, floor conditions) and determines in advance whether the scheduled motion is appropriate, preventing unsafe motions before they occur.
Solution Approach 2:
The system implements feedback by using the position decision unit to continuously track the mobile entity's position and the environment information acquisition unit to gather real-time environmental data. This feedback loop allows the motion determination unit to adjust motion execution based on current environmental conditions, ensuring safety while maintaining operational complexity at a manageable level.
2Reliability
If the mobile entity adds environment information acquisition and motion determination functions, then the reliability of motion execution is improved, but the device complexity increases due to additional sensors and processing units
Solution Approach 1:
The motion determination unit serves multiple functions: it assesses environmental suitability for motion execution, determines appropriate motion patterns, and controls motion execution. By making this unit multi-functional, the patent reduces the need for separate dedicated components for each function, thereby limiting the increase in device complexity while maintaining improved reliability.
3Reliability
If the mobile entity performs environmental assessment before motion, then the safety is improved, but the time required for motion execution increases due to additional processing
Solution Approach 1:
The system performs environmental assessment and motion determination in advance, before the actual motion execution begins. By completing the safety check and motion planning beforehand, the system ensures safety without significantly delaying the start of the motion itself, thus minimizing the time loss while maintaining high reliability.
Data Source
AI summary
A mobile entity includes: a position decision unit configured to determine a position of itself; an environment information acquisition unit configured to acquire environment information at the position; and a motion determination unit configured to determine whether a motion scheduled to be performed holds based on the environment information. The environment information includes at least one of environment information related to a vocal apparatus and environment information related to a display device.