Virtual Robot Feedback for Autonomous Obstacle Avoidance
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Solution Overview
Problem
Operators of remote-controlled autonomous mobile robots often experience discomfort due to mismatches between intended and actual robot movements, especially when the robot autonomously avoids obstacles without the operator's perception of these obstacles, leading to a lack of intuitive understanding of the robot's actions.
Innovation Solution
An information processing device that communicates with an autonomous mobile device, transmitting operation commands to both the real and virtual representations of the robot, switching between real and virtual modes based on operability inhibitors, providing sensory feedback corresponding to the robot's movements in the real world or simulated movements in a virtual world to align the operator's perception with the intended actions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the autonomous mobile device autonomously avoids obstacles without operator perception, then safety and autonomous operation capability are improved, but operator comfort and intuitive understanding of robot actions deteriorate
Solution Approach 1:
The patent introduces a virtual mobile device as an intermediary between the operator and the real autonomous mobile device. The virtual device simulates the real device's movements and provides visual feedback to the operator, mediating the information gap caused by autonomous obstacle avoidance. When the real device autonomously avoids an obstacle, the virtual device replicates this movement in the virtual environment, allowing the operator to perceive and understand the autonomous action without direct visual contact with the real device's sensors and actuators.
Solution Approach 2:
The patent creates a virtual copy of the autonomous mobile device that replicates its movements and behavior. This virtual copy serves as a visual representation that the operator can observe and understand. The virtual mobile device copies the position, orientation, and movement轨迹 of the real device, providing the operator with intuitive feedback about autonomous actions such as obstacle avoidance, even when these actions occur without direct operator perception of the actual obstacles.
2Extent of automation
If there is a difference between operation instruction and actual autonomous movement, then autonomous navigation capability is improved, but operator understanding and predictability of robot behavior deteriorate
Solution Approach 1:
The patent implements a feedback mechanism where the virtual mobile device provides continuous visual feedback to the operator about the real device's actual movements. When the autonomous mobile device deviates from the operator's intended path to avoid obstacles or navigate autonomously, the virtual device displays this deviation, allowing the operator to understand the reason for the difference between intended and actual movement. This feedback loop maintains operator awareness and understanding of autonomous actions.
Solution Approach 2:
The virtual mobile device acts as an intermediary that translates the autonomous mobile device's autonomous navigation actions into comprehensible visual information for the operator. It mediates the information gap by presenting a simplified, intuitive representation of complex autonomous behaviors, helping the operator understand why the real device is moving differently from the original operation instruction.
3Loss of information
If the system provides detailed sensory feedback of autonomous movements, then operator awareness of robot actions is improved, but operator discomfort due to mismatch between intended and actual movement increases
Solution Approach 1:
The patent creates a virtual copy that replicates the real mobile device's movements, providing the operator with visual awareness of autonomous actions. The virtual device copies position, orientation, and trajectory information, allowing the operator to see what the real device is doing without the confusion that would arise from directly displaying raw sensor data or complex autonomous decision-making processes.
Solution Approach 2:
The virtual mobile device serves as an intermediary representation that translates complex autonomous movements into intuitive visual feedback. It mediates between the real device's autonomous actions and the operator's perception, presenting information in a form that maintains awareness while avoiding the discomfort caused by direct exposure to mismatches between intended and actual movements.
Data Source
AI summary
An information processing device, for communicating with an autonomous mobile device, includes circuitry and a memory storing computer-executable instructions that cause the circuitry to execute transmitting an operation command of an operator of the autonomous mobile device to the autonomous mobile device existing in a real world and a virtual mobile device simulating the autonomous mobile device and existing in a virtual world simulating the real world, and switching from a real mode to a virtual mode when the autonomous mobile device detects an inhibitor inhibiting operability of the operator to operate the autonomous mobile device, the real mode providing the operator with sensory feedback corresponding to an autonomous movement of the autonomous mobile device in the real world, and the virtual mode providing the operator with sensory feedback corresponding to a movement according to the operation command of the virtual mobile device in the virtual world.