Machine Collision Recovery Using Swept-Volume Trajectories
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Solution Overview
Problem
Manual recovery of machines after collisions is time-consuming and risky, especially for machines with complex kinematics or in cluttered environments, leading to prolonged downtime and potential damage.
Innovation Solution
An automated method and system for machine recovery that records configurations and calculates a recovery sequence based on swept volumes, allowing machines to return to a safe position without human intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual recovery process is used for machines with complex kinematics or in cluttered environments, then operator safety is maintained, but recovery time increases significantly and productivity decreases
Solution Approach 1:
The system pre-calculates multiple recovery trajectories before a collision occurs, storing them for immediate use. When a collision is detected, the pre-computed trajectories are instantly available, eliminating the need for real-time path planning during recovery and significantly reducing recovery time while maintaining safety through pre-validated paths
Solution Approach 2:
The system creates virtual copies of the machine's swept volume and uses these digital models to simulate and evaluate recovery paths. By working with virtual representations rather than physical manipulation, the system can rapidly assess multiple trajectories without risking actual collisions, enabling fast automated recovery decisions
2Productivity
If automated recovery is implemented, then recovery time decreases and productivity increases, but the complexity of the control system increases
Solution Approach 1:
The control system pre-computes and stores multiple recovery trajectories during the machine setup phase, organizing them by target positions and collision scenarios. This preliminary preparation creates a lookup table of valid recovery paths that the automated system can quickly select and execute, reducing real-time computational requirements and controlling system complexity
Solution Approach 2:
The system uses the recorded configuration data and swept volume information to automatically generate and evaluate recovery trajectories without external intervention. The machine's own operational data serves as the basis for its recovery planning, eliminating the need for complex external control systems while enabling fast automated recovery
3Reliability
If comprehensive swept volume calculations are performed to ensure safe recovery paths, then collision avoidance during recovery is improved, but computational requirements and processing time increase
Solution Approach 1:
The system calculates and stores the machine's swept volume during normal operation and before collision detection. By having this spatial information pre-computed and stored, the recovery trajectory evaluation can quickly check against pre-existing volume data rather than performing complex real-time calculations, reducing computational energy while maintaining accurate collision avoidance
Solution Approach 2:
The system evaluates multiple recovery trajectories using the recorded configurations and swept volume data, selecting the most appropriate path without exhaustively analyzing every possible trajectory. This partial evaluation approach provides sufficient collision avoidance assurance while keeping computational requirements manageable for automated real-time operation
Data Source
AI summary
A method and system for automatic recovery of a machine after a collision event occurred within a workspace environment of the machine is provided. The method may include recording a plurality of configurations of a machine during execution of a task; calculating based on the plurality of recorded configurations, a swept volume occupied by the machine during execution of the task; in response to a collision event, determining, based on the swept volume, a recovery sequence of movements for the machine; and using the recovery sequence of movements to lead the machine back to a predefined known safe position after the collision event occurred.