Travel teaching recording method for autonomous traveling body, autonomous traveling body, and recording medium
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Solution Overview
Problem
During the teaching travel of autonomous moving bodies, obstacles on the route cause unnecessary wait times and discontinuities in position and speed records, leading to inefficient reproduction travels.
Innovation Solution
A travel teaching recording method that detects the operator's pause switch operations to stop and resume recording, allowing for seamless joining of records before and after pauses, ensuring continuous position and speed data in autonomous reproduction travels.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the operator stops operation to remove obstacles during teaching travel, then the autonomous traveling body can avoid collisions, but unnecessary wait times are reproduced in copy travel leading to deterioration of work efficiency
Solution Approach 1:
The teaching record is segmented into multiple sections based on pause switch operations. When the pause switch is operated during teaching travel, the record is divided into a first section (before pause) and a second section (after pause). This segmentation allows the system to identify and exclude unnecessary wait times caused by obstacle removal, while preserving necessary stop information for safe collision avoidance during autonomous reproduction travel.
Solution Approach 2:
The pause switch function is activated during teaching travel to preliminarily mark sections where obstacles exist. By recording which sections were paused before autonomous travel begins, the system prepares in advance to avoid reproducing unnecessary wait times. The control unit uses this preliminary information to automatically skip or adjust the reproduced travel sections, preventing collision while eliminating inefficiency.
2Ease of operation
If the operator presses the record stop button during teaching travel, then the teaching can be stopped, but position and speed become discontinuous in autonomous reproduction travel
Solution Approach 1:
The pause switch serves as an intermediary mechanism between the operator and the recording system. Unlike the record stop button that creates hard discontinuities, the pause switch triggers a controlled pause function that maintains data continuity. When paused, the system records position and speed as zero or interpolated values, creating a smooth transition that preserves the mathematical continuity of the travel path while still allowing operator intervention.
3Device complexity
If the teaching travel continues without stopping recording when obstacles are removed, then the teaching process is simple, but unnecessary wait times are reproduced resulting in inefficient autonomous reproduction travel
Solution Approach 1:
The pause switch provides immediate feedback to the control unit during teaching travel. When the operator operates the pause switch, the system receives real-time feedback about obstacle presence and automatically adjusts the recording accordingly. This feedback mechanism enables the system to learn from operator actions during teaching and automatically optimize autonomous reproduction by excluding unnecessary wait times, improving efficiency without complicating the teaching process.
Data Source
AI summary
A travel teaching recording method includes detecting by a pause controller whether or not an operator has performed a stopping operation of a pause switch, stopping traveling of a cleaning machine and controlling timing to stop recording in a storage if the stopping operation of the pause switch is detected, detecting whether or not the operator has performed a resuming operation of the pause switch, starting traveling of the cleaning machine and controlling timing to resume recording in the storage if the resuming operation of the pause switch is detected, and joining the record before stopping recording and the record after resuming recording so as to store the joined record in the storage.