Multi-Robot Interference Avoidance via Strategic Braking
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Solution Overview
Problem
Existing methods for controlling multiple robots in overlapping occupation regions often result in increased time to reach target positions due to unnecessary braking when interference is detected, leading to inefficient operation.
Innovation Solution
Defining occupation regions for each robot based on its pose at the target position, determining interference regions, and strategically braking the movement of one robot when the other is partially within this region to avoid collisions and allow immediate movement to the target.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the controller brakes the motion of one robot arm when the first robot's special region and the second robot's special region are at least partially overlapped, then interference between robots is avoided, but the time to reach target positions is increased
Solution Approach 1:
The controller determines in advance whether the special regions of multiple robot arms will be overlapped during movement. When overlap is detected, the controller preemptively brakes the motion of one robot arm before the interference actually occurs, allowing the other robot arm to continue moving to its target position without delay. This preliminary detection and selective braking resolves the contradiction by avoiding interference only when necessary.
Solution Approach 2:
The system dynamically adjusts the motion control of robot arms based on real-time detection of special region overlap. The controller continuously monitors the positions and movement trajectories of multiple robot arms, and dynamically decides which robot arm should brake and which should continue moving, optimizing the overall system efficiency while preventing interference.
2Reliability
If the controller prevents one robot arm from moving to keep it at rest, then collision is avoided, but operational efficiency is reduced
Solution Approach 1:
Instead of completely stopping one robot arm when special regions overlap, the controller applies partial braking only to the extent necessary to prevent interference. The robot arm that continues moving is allowed to proceed with its task, performing its full operational function while the other arm is temporarily restrained. This partial action approach maintains collision avoidance while preserving operational efficiency.
Solution Approach 2:
The controller acts as an intermediary that coordinates the movement of multiple robot arms. When potential interference is detected, the controller mediates by selectively controlling which robot arm brakes and which continues moving, optimizing the coordination between robots to maintain both safety and productivity.
Data Source
AI summary
In a robot, a first determining unit determines whether there is an interference region in which a first occupation region and a second occupation region are at least partially overlapped with each other. A second determining determines whether a second movable part of another robot is at least partially located in the interference region based on an actual position of the second movable part. A stopping unit begins stopping, at a predetermined timing, movement of the first movable part if it is determined that there is the interference region, and that the second movable part is at least partially located in the interference region. The predetermined timing is determined based on a positional relationship between an actual position of the first movable part and the interference region.