Teleoperation Input Mode Switching for Collision-Aware Robot Assistance
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Solution Overview
Problem
Existing tele-operation technologies are inadequate for assisting diverse tasks performed on various objects, lacking the ability to adapt to different operation states and environments.
Innovation Solution
A tele-operation assistance system that includes a motion acquisition unit, intention understanding unit, environmental situation determination unit, and operation amount determination unit to estimate operation distance, state, and adjust input modes based on the operator's motion, environmental information, and target object characteristics.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed input mode is used for tele-operation, then the system is simple to operate, but it cannot assist in diverse teleoperation tasks on various objects
Solution Approach 1:
The system dynamically switches between multiple input modes (distant mode, peripheral mode, operated mode) based on the real-time operation state determined by the operation state determination unit. This allows the tele-operation system to adapt its assistance level and control characteristics according to the task phase, enabling diverse task support while maintaining manageable complexity through automated mode selection
Solution Approach 2:
The tele-operation system incorporates multiple input modes that can handle different operation scenarios (distant operation, peripheral assistance, direct operation) within a single unified system. The operation amount determination unit integrates information from motion acquisition, intention understanding, and environmental situation determination to provide comprehensive assistance across various task types and objects
2Productivity
If the system provides comprehensive assistance for all tasks, then task completion efficiency improves, but the response time and processing delay increase
Solution Approach 1:
The system applies assistance selectively based on the operation state rather than providing full assistance for all tasks. The operation state determination unit identifies specific task phases (distant, peripheral, operated states) and activates appropriate assistance levels, avoiding unnecessary processing delays while maintaining high productivity during critical operation phases
3Manufacturing precision
If the robot operates close to the target object, then manipulation precision improves, but the risk of collision and harmful factors increases
Solution Approach 1:
The environmental situation determination unit continuously monitors the operation environment and target object position before the end effector reaches critical proximity. The system determines the operation state in advance and adjusts the input mode accordingly, enabling the operator to take preventive actions or receive assistance that avoids collision before it occurs, thus maintaining both precision and safety
Data Source
AI summary
A tele-operation assistance system includes: a motion acquisition unit configured to acquire information on a motion of an operator operating an end effector; an intention understanding unit configured to estimate a target object to be operated by the end effector and a task which is a method of operating the target object; an environmental situation determination unit configured to acquire environmental information of an environment in which the end effector is operated; and an operation amount determination unit determine an operation amount of the end effector. The operation amount determination unit estimates an operation distance to the target object based on information of the target object and the motion of the operator, determines an operation state of the end effector according to the estimated operation distance, and changes an input mode of an assistance to a tele-operation according to the operation state.