Manipulator Protective Field Adjustment for Known Obstacle Exclusion
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Solution Overview
Problem
Existing driverless transport systems in production facilities lack the ability to dynamically adjust their protective fields based on environmental changes and known obstacles, limiting their flexibility and safety in human-robot collaboration.
Innovation Solution
A method for operating a manipulator system that includes a monitoring device using infrared, ultrasound, parallax, or optical distance measurement systems, along with laser scanners, to detect and adapt the protective field based on environmental information, allowing for flexible adjustment and exclusion of known obstacles from the protective zone, ensuring safe operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the protective field is configured offline with multiple pre-configured fields, then the system can switch between different protective field configurations, but the number of pre-configured protective fields is limited and the system cannot adapt to environmental changes
Solution Approach 1:
The protective field is made dynamic by continuously adjusting its extension in the traveling direction based on the current traveling speed of the AGV. The control device receives speed information from the drive control device and automatically modifies the protective field parameters in real-time, eliminating the need for multiple pre-configured static fields and enabling continuous adaptation to changing operating conditions.
Solution Approach 2:
The system changes the parameters of the protective field (specifically the extension distance in the traveling direction) based on the traveling speed parameter. When the AGV travels at higher speeds, the protective field is extended further ahead to account for longer braking distances, while at lower speeds the field is reduced, optimizing safety coverage dynamically.
2Reliability
If a larger protective field is used to account for deceleration and braking distances at high speeds, then safety is improved, but the protective field may exclude important obstacles when reduced in size
Solution Approach 1:
The protective field parameters are dynamically adjusted based on the AGV's traveling speed. The control device calculates the appropriate field extension distance by considering the current speed and required braking distance, ensuring the field is large enough to cover safety risks at high speeds but can be reduced when speeds are lower, maintaining both safety and flexibility.
Solution Approach 2:
The protective field transitions from a static configuration to a dynamic one that automatically adapts its size and shape based on real-time operating conditions. This dynamic adjustment ensures the field is always appropriately sized for the current speed and environmental context, preventing both over-protection that might exclude important obstacles and under-protection that might compromise safety.
3Adaptability or versatility
If the protective field is continuously adjusted based on traveling speed, then the system adapts to current operating conditions, but additional control mechanisms are required
Solution Approach 1:
The control device performs multiple functions: it not only switches between different drive programs but also receives traveling speed information from the drive control device and uses this information to dynamically adjust the protective field parameters. This multi-functionality eliminates the need for separate dedicated control mechanisms, achieving dynamic adaptation while minimizing additional complexity.
Solution Approach 2:
The protective field control functionality is merged with the existing drive control system. The control device that already manages drive program switching now also handles protective field adjustment by integrating speed feedback from the drive system, combining multiple control functions into a single coordinated system rather than adding separate independent control mechanisms.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables flexible and safe operation of driverless transport systems by dynamically adapting the protective field to environmental changes and known obstacles, preventing collisions and ensuring optimal safety without interrupting the system's operation or path planning.
Implementation Method 1
monitoring device using infrared, ultrasound, parallax, or optical distance measurement systems
Implementation Method 2
monitoring device using infrared, ultrasound, parallax, or optical distance measurement systems
Implementation Method 3
monitoring device using infrared, ultrasound, parallax, or optical distance measurement systems
Implementation Method 4
monitoring device using infrared, ultrasound, parallax, or optical distance measurement systems
Implementation Method 5
laser scanners, to detect and adapt the protective field
Data Source
Figure 1~2
Figure 3~4
Figure 5~6
AI summary
The invention relates to methods for operating a manipulator system, which can comprise, in particular, a driverless transport system (1) and also, in particular, a driverless transport vehicle. A protected field (7) of the manipulator system is monitored by a monitoring device (3). The method comprises providing environment information regarding an environment of the manipulator system and adjusting the protected field (7) on the basis of the environment information.