Autonomous Robot Recovery Control After a Stuck State
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Solution Overview
Problem
Existing autonomous mobile apparatus control systems lack a method to safely recover from an emergency stop state and resume autonomous operation.
Innovation Solution
An autonomous mobile apparatus control system comprising a higher-level management apparatus and environment cameras that allow the autonomous robot to transmit a stuck notification, wait for instructions, and resume autonomous driving after safety confirmation using proximity sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the autonomous mobile robot performs emergency stop operation to avoid contact with person or obstacle, then safety is improved, but the autonomous drive state is canceled and the robot cannot resume autonomous operation
Solution Approach 1:
The higher-level management apparatus receives autonomous cancel notifications from the autonomous mobile robot and uses feedback from environment cameras to determine safe recovery conditions. The system continuously monitors the environment and provides feedback to decide when to issue operation instructions for resuming autonomous drive state, ensuring safety while enabling recovery.
Solution Approach 2:
The higher-level management apparatus acts as an intermediary between the autonomous mobile robot and the environment. It receives notifications from the robot, acquires environment information through cameras, and issues operation instructions to the robot. This intermediary role enables safe recovery by mediating the transition from emergency stop back to autonomous operation.
2Reliability
If the higher-level management apparatus uses environment cameras to acquire information for issuing operation instructions, then safety confirmation is improved, but the system complexity increases
Solution Approach 1:
The higher-level management apparatus performs multiple functions: managing autonomous mobile robots, receiving autonomous cancel notifications, acquiring environment information through cameras, determining safe recovery conditions, and issuing operation instructions. This multi-functional approach consolidates complexity into a single management system rather than distributing it across multiple components.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables safe recovery of the autonomous robot from a stuck state to its autonomous drive mode by providing initial operation instructions based on the surrounding environment and confirming safety, ensuring no errors occur.
Implementation Method 1
safety confirmation based on a proximity sensor provided in the autonomous mobile robot
Data Source
AI summary
When an autonomous mobile robot is acquires enters a stuck state in which the autonomous mobile robot cannot autonomosly move, an autonomous mobile apparatus control system according to the present disclosure transmits an autonomous cancel notification for notifying the higher-level management apparatus that the autonomous mobile robot cannot autonomosly move, waits for an operation instruction from the higher-level management apparatus after the transmission of the autonomous cancel notification. The higher-level management apparatus gives an operation instruction to the autonomous mobile robot in response to receiving the autonomous cancel notification based on information acquired from at least one of the plurality of environment cameras. The autonomous mobile robot is configured to resume autonomous driving in response to safety confirmation based on a proximity sensor provided in the autonomous mobile robot after operating in accordance with the operation instruction.