Multi-Robot Work Trajectory Planning for Collision Risk Areas
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Solution Overview
Problem
Current methods for preventing collisions between task-performing robots in shared work areas are inefficient, requiring manual generation of interlock signals and resulting in excessive waiting times, even if collisions are avoided.
Innovation Solution
A method using a computing device to determine available work points, distribute target work points, predict target work trajectories, calculate collision risk areas, and generate interlock signals to adjust work orders and trajectories of task-performing robots, thereby preventing collisions automatically.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual generation of interlock signals is used to prevent collisions, then collision prevention is achieved, but time efficiency deteriorates due to repeated generation-test processes and excessive waiting times
Solution Approach 1:
The system performs preliminary analysis of robot trajectories and work areas before execution to pre-determine potential collision risk areas. By calculating and identifying these risk areas in advance, the system can generate appropriate interlock signals proactively, preventing collisions before they occur while minimizing unnecessary waiting time for robots.
2Reliability
If manual generation of interlock signals is used, then collision prevention is achieved, but operational efficiency deteriorates due to inefficient manual processes
Solution Approach 1:
The system implements self-service by automatically analyzing robot trajectories, calculating work areas, identifying collision risk areas, and generating interlock signals without manual intervention. This automated self-service approach maintains reliable collision prevention while dramatically improving operational efficiency and productivity.
3Area of stationary object
If work areas are shared between robots to maximize space utilization, then area efficiency is improved, but collision risk increases
Solution Approach 1:
The system introduces collision risk area calculation as an intermediary analysis layer between shared work area assignment and robot operation. By calculating and identifying specific collision risk areas within shared work spaces, the system enables safe space utilization while maintaining reliability through automated interlock signal generation in these identified risk zones.
Data Source
AI summary
Disclosed is a method for preventing a collision between a plurality of task-performing robots, the method performed by one or more processors of a computing device. The method may include: determining available work points for each of the plurality of task-performing robots; distributing target work points for each of the plurality of task-performing robots based on the determined available work points, and predicting a plurality of target work trajectories for each of the plurality of task-performing robots based on the distributed target work points; predicting work areas for each of the plurality of task-performing robots based on the predicted plurality of target work trajectories; calculating an area where two or more work areas among the predicted work areas for each of the plurality of task-performing robots cross, and setting a collision risk area based on the crossing area; and determining work orders or work trajectories of the plurality of task-performing robots based on the set collision risk area.