Robotic Vehicle Control for Safe Autonomous Yard Maintenance
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Solution Overview
Problem
Current solutions for vehicle yard operations are labor-intensive, dangerous, and limited by human operational capabilities, especially in dynamic environments, and lack integrated system-wide solutions for tasks like vehicle maintenance, which requires safe and efficient robotic movement and manipulation.
Innovation Solution
A robotic system with a propulsion system, actuators, and onboard sensors that can autonomously move and perform tasks, switching between autonomous and tele-operation modes, using machine learning and sensors to navigate and avoid collisions, and determine efficient paths for maintenance operations like brake bleeding.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If automated robotic systems are used to perform vehicle maintenance in the yard, then productivity and operational efficiency are improved, but safety risks increase due to potential collisions with other objects and inability to respond to dynamically changing environments
Solution Approach 1:
The robotic system incorporates sensors (cameras, LIDAR, ultrasonic sensors) that continuously monitor the environment and provide feedback to the control system. This real-time feedback enables the robot to detect obstacles, adjust its path, and respond to dynamically changing conditions in the yard, thereby maintaining safety while achieving autonomous operation and improved productivity
Solution Approach 2:
The control system acts as an intermediary between the robotic system and the environment. It processes sensor data, makes decisions about navigation and task execution, and coordinates actuator commands. This intermediary layer enables the robot to safely navigate complex environments by mediating between autonomous operation and environmental constraints
2Ease of operation
If robotic systems operate autonomously in dynamic environments, then labor intensity is reduced, but the complexity of the control system increases due to the need for real-time decision making and adaptation
Solution Approach 1:
The control system is segmented into multiple independent modules: navigation module, obstacle detection module, task execution module, and communication module. Each module handles specific functions independently, which reduces overall system complexity while enabling autonomous operation. This modular architecture allows the robot to perform complex tasks without requiring an overly complicated monolithic control system
Solution Approach 2:
The robotic system is designed to autonomously perform vehicle maintenance tasks without human intervention. The control system automatically processes sensor data, navigates to target vehicles, executes maintenance operations, and returns to base. This self-service capability reduces labor intensity while the modular control architecture manages the inherent complexity
3Productivity
If the robotic system follows the shortest path to reach maintenance locations, then productivity is improved, but safety is compromised due to increased risk of collision with moving objects in the yard
Solution Approach 1:
The navigation system dynamically adjusts the robot's path based on real-time environmental conditions. Instead of following a fixed shortest path, the control system continuously recalculates routes using sensor feedback, allowing the robot to adapt to moving objects and changing yard conditions. This dynamic navigation maintains productivity while prioritizing safety through real-time path optimization
Data Source
AI summary
A system includes a robotic vehicle having a propulsion system and an actuator configured to perform designated operations. The system also includes one or more sensors disposed onboard the robotic vehicle configured to obtain environmental data representative of an external environment. The system also includes a local controller disposed onboard the robotic vehicle and configured to receive input signals from an off-board controller. Responsive to receiving an input signal from the off-board controller for moving in an autonomous mode, the local controller is configured to autonomously move the robotic vehicle within the external environment. Responsive to receiving an input signal for operating in a tele-operation mode, the local controller is configured to exit the autonomous mode, wherein the input signal for operating in the tele-operation mode includes a remote command that dictates at least one of a movement of the robotic vehicle or a movement of the actuator.