Robotic Vehicle Proximity Threshold Control for Payload Avoidance
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Solution Overview
Problem
Conventional robotic vehicles use fixed proximity thresholds for collision avoidance, which may not be suitable for all circumstances, particularly when carrying payloads, leading to restricted operation and safety concerns.
Innovation Solution
The robotic vehicle adjusts its proximity threshold based on whether it is carrying a payload, using sensors like contact, weight, or image sensors to determine the payload presence and classification, and adjusting the threshold accordingly to ensure safe operation and maneuverability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed proximity threshold is used for collision avoidance, then the robotic vehicle can maintain simple control logic and consistent safety margins, but the vehicle's maneuverability is restricted and operation is limited when carrying payloads
Solution Approach 1:
The proximity threshold is changed from a fixed value to a dynamic value that adjusts based on payload presence. The system detects whether a payload is carried and automatically modifies the proximity threshold accordingly, enabling the vehicle to adapt its collision avoidance behavior to different operational conditions without requiring complex manual reconfiguration
Solution Approach 2:
The robotic vehicle autonomously determines its own operational parameters by detecting payload presence and self-adjusting the proximity threshold. The system uses its own sensors to monitor its state and automatically modifies its control parameters without external intervention, simplifying the overall control architecture while improving adaptability
2Reliability
If a fixed high proximity threshold is used to ensure payload safety, then payload protection is improved, but the vehicle's maneuverability and ability to operate in confined spaces is reduced
Solution Approach 1:
The proximity threshold dynamically adjusts between high and low values based on real-time detection of payload presence. When a payload is detected, a higher threshold is applied to ensure safety; when no payload is present, a lower threshold enables better maneuverability. This dynamic adjustment resolves the contradiction by making the safety margin context-dependent rather than fixed
Solution Approach 2:
The system changes the proximity threshold parameter based on the operational condition (payload presence). By modifying this critical control parameter according to the detected state, the system achieves both high payload safety when needed and improved maneuverability when appropriate, eliminating the need to choose between conflicting requirements
Data Source
Figure 1A~1B
Figure 1C~1D
Figure 2
AI summary
Various embodiments include methods, devices, and robotic vehicles that adjust a proximity threshold implemented in a collision avoidance system based on whether a payload is being carried. Methods may include determining whether a payload is carried by the robotic vehicle, setting a proximity threshold for collision avoidance in response to determining that a payload is carried by the robotic vehicle, and controlling one or more motors of the robotic vehicle using the proximity threshold for collision avoidance. Some embodiments may include raising the proximity threshold when a payload is not being carried or decreasing proximity threshold when a payload is being carried. Some embodiments may include determining a classification of a payload and setting the proximity threshold based at least in part on the classification.