Teleoperated Robot Return Control After Communication Loss
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Solution Overview
Problem
Semi-autonomous robots often lose communication with operators while navigating to hazardous areas with insufficient wireless network access, making it impractical to reestablish a communication link and control the robot's return.
Innovation Solution
The robot is equipped with a leasing system that schedules execution leases, allowing it to automatically determine a return location based on previous communication points and navigate back when a communication link is lost, using a sequence of execution leases to execute commands for returning to a safe location.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot navigates to hazardous areas with insufficient wireless network access, then the robot can perform operations in remote locations, but the robot loses communication with the operator
Solution Approach 1:
The system performs preliminary actions by queuing commands in advance and scheduling their execution based on lease expiration triggers. When communication is lost, the robot continues executing pre-scheduled commands without needing real-time operator input, allowing it to navigate remote areas while maintaining operational reliability.
Solution Approach 2:
The robot serves itself by autonomously managing command execution through the leasing system. It automatically determines when to execute queued commands based on lease expiration, without requiring continuous operator intervention, thus maintaining operation reliability in areas with poor communication.
2Extent of automation
If the robot operates without continuous operator control, then the robot can function in areas with lost communication, but the robot cannot be controlled to return safely
Solution Approach 1:
The operator pre-queues return commands in advance before communication is lost. The leasing system schedules these commands to execute automatically when the appropriate lease expires, ensuring the robot can return safely without requiring real-time operator control in areas with poor communication.
3Reliability
If the robot waits for operator commands to return, then the robot maintains communication control, but the robot cannot recover operations when communication is lost
Solution Approach 1:
The system recovers operations by executing pre-scheduled commands that were queued before communication loss. The leasing system manages command execution based on lease expiration triggers, allowing the robot to continue operations and return safely without requiring reestablished communication.
Solution Approach 2:
The robot autonomously recovers operations by self-managing command execution through the leasing system. It automatically proceeds with pre-scheduled commands based on lease expiration, enabling operational recovery without operator intervention when communication is lost.
Data Source
AI summary
A method includes obtaining, from an operator of a robot, a return execution lease associated with one or more commands for controlling the robot that is scheduled within a sequence of execution leases. The robot is configured to execute commands associated with a current execution lease that is an earliest execution lease in the sequence of execution leases that is not expired. The method includes obtaining an execution lease expiration trigger triggering expiration of the current execution lease. After obtaining the trigger, the method includes determining that the return execution lease is a next current execution lease in the sequence. While the return execution lease is the current execution lease, the method includes executing the one or more commands for controlling the robot associated with the return execution lease which cause the robot to navigate to a return location remote from a current location of the robot.