A method for dynamic scheduling of multiple workstations in the safety zone of an unmanned coffee machine robotic arm
By using a dynamic scheduling method to calculate the dynamic safety radius and correct path boundary points, the problems of path redundancy and rotational collision in the path planning of the robotic arm are solved, thereby improving the operating efficiency and safety of the robotic arm of the unmanned coffee machine.
CN121083629BActive Publication Date: 2026-05-26北京智元成科技有限公司
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Patent Information
- Application Number
- CN202511279924.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-09
- Publication Date
- 2026-05-26
- Estimated Expiration
- 2045-09-09
AI Technical Summary
Technical Problem
In existing robotic arm path planning methods, fixed safety zones lead to path redundancy and reduce operating efficiency. At the same time, ignoring the volume of the load results in the risk of collisions during rotational motion, affecting system reliability.
Method used
A multi-station dynamic scheduling method is adopted. By establishing a dynamic safety radius and geometric envelope model, the path boundary points are calculated and corrected to generate an adaptive scheduling path, thus avoiding the load from exceeding the safety boundary.
Benefits of technology
It improves the efficiency and reliability of the robotic arm, ensures that the load and equipment do not collide during rotation, and enhances the system's adaptability and robustness.
✦ Generated by Eureka AI based on patent content.
Abstract
This invention relates to the field of robot motion control technology and discloses a multi-station dynamic scheduling method for the safety zone of an unmanned coffee machine robotic arm. The method first calculates a dedicated dynamic safety radius for each movement based on the motion sector of the scheduling task and the state of the arm's interaction devices. Next, it establishes a geometric envelope model for different load states of the robotic arm and corrects the boundary points of the path based on this model and the dynamic safety radius to ensure that the load entity remains within the safety zone during movement. Finally, by calculating the effective rotation angle between the corrected boundary points and judging based on angle thresholds, it decides to generate a three-segment or a four-segment scheduling path that introduces intermediate transition points. This invention solves the technical problems of path planning redundancy caused by static safety zones and interference caused by neglecting load volume. While ensuring safety, it improves the operating efficiency, reliability, and adaptability to complex paths of the robotic arm.
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