Automated Handling System Path Planning with Sector Collision Checklists
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Solution Overview
Problem
Automated liquid handling systems face challenges in efficiently planning collision-free movements between multiple robot arms due to the complexity of collision checking methods, which are sensitive to specific scenarios and time-consuming.
Innovation Solution
A method for collision avoidance in automated handling systems using a heuristic approach for point-to-point pathfinding, incorporating both quasi-static and dynamic collision checks, with a separation of collision tests to ensure quick and reliable results, and the implementation of fallback strategies for critical steps.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If mathematical collision checking methods are used to prevent collisions in robot systems, then collision avoidance reliability is improved, but computational time increases and the system becomes more complex
Solution Approach 1:
The patent divides the work area into multiple sectors and creates sector-specific collision checklists containing only the objects relevant to each sector. This segmentation reduces the number of collision checks required during movement, as the controller only checks against objects in the current sector rather than all objects in the workspace, thereby reducing computational time while maintaining collision avoidance reliability.
Solution Approach 2:
The patent pre-generates collision checklists for each sector before the robot begins movement. These checklists contain pre-identified objects that may be collided with in each sector, allowing the controller to perform quick reference checks during real-time operation rather than calculating potential collisions from scratch, thus reducing computational time while ensuring reliable collision avoidance.
2Measurement precision
If comprehensive collision checking is performed for all objects in the workspace, then collision detection accuracy is improved, but computational complexity increases
Solution Approach 1:
The patent applies different levels of collision checking detail to different sectors of the workspace. Each sector has a customized collision checklist containing only the objects relevant to that specific sector. This local optimization ensures high collision detection accuracy for each sector while reducing overall computational complexity by avoiding unnecessary checks of objects in other sectors.
3Productivity
If multiple arms move simultaneously in the system, then system productivity is improved, but the risk of collision and interference increases
Solution Approach 1:
The patent introduces sector collision checklists as an intermediary mechanism that mediates between multiple moving arms. The checklists serve as pre-computed reference data that enable the controller to quickly determine collision-free paths for multiple arms moving simultaneously, thus maintaining high productivity while ensuring collision avoidance reliability through efficient real-time checking.
Data Source
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AI summary
Automated handling system (100) comprising a work area (10), at least one object (O1) contained in the work area (10), at least one first and one second numerically controlled arm (11, 12) wherein these arms (11, 12) are movable over the work area (10), and collision avoidance means (S, BPA, KP) implemented such that: o an actual topography of the work area (10) can be determined; o a motion request (BA1) can be processed which specifies a movement for the first arm (11) in the work area (10) from a first location (A) to a second location (B); o a motion planning algorithm (BPA) can be applied which determines a path from the first location (A) to the second location (B); o a quasi-static and a dynamic collision check (KP) can be applied to the path, wherein the collision checks (KP) determine whether, during movement of the first arm (11) would cause a collision.