Robot Accessory Interference Control for Safe Movable Range

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Solution Overview

Problem

Existing control devices for robots with movable parts fail to effectively manage interference from accessories, leading to hampered operation and potential damage or noise due to lack of precise control over movable ranges.

Innovation Solution

A control device with a processor that determines if an accessory interferes with a robot's movable parts, sets a non-interfering movable range, and controls the drivers to operate the parts within that range, using sensors and mapping techniques to ensure safe operation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If accessories are fitted onto the robot, then the robot's functionality and versatility are improved, but the movable parts may be interfered with by the accessories, causing operation restrictions and potential damage

Engineering Contradiction:

Improverobot functionality with accessoriesVSAvoidoperation safety of movable parts

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The control device performs preliminary determination of whether accessories interfere with movable parts before actual operation. The processor determines interference status in advance and pre-calculates appropriate movable ranges, preventing potential collisions and damage before they occur.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The movable range is dynamically adjusted based on accessory interference status. When interference is detected, the control device automatically modifies the movable range to exclude interfering areas, allowing the robot to adapt its operation space in real-time while maintaining functionality.

Inventive Principle:

Principle #15Dynamics

2Reliability

If the movable range is restricted to avoid accessory interference, then operation safety is improved, but the working space and productivity of the robot are reduced

Engineering Contradiction:

Improveoperation safety of movable partsVSAvoidrobot working space

Core Design Contradiction:

ReliabilityVSProductivity

Solution Approach 1:

The movable range restriction is applied locally only in areas where accessory interference occurs, rather than globally limiting all movement. The control device identifies specific interfering zones and restricts movement only in those localized areas, preserving maximum working space in non-interfering regions.

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The control device modifies the movable range parameters dynamically based on accessory configuration. By changing the boundary parameters of the movable range rather than completely restricting movement, the system maintains optimal working space while ensuring safety.

Inventive Principle:

Principle #35Parameter changes

3Reliability

If real-time determination of accessory interference is performed, then operation safety is improved, but the control complexity and computational load increase

Engineering Contradiction:

Improvereal-time interference detectionVSAvoidcontrol system complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The control device uses coordinate information and virtual modeling to represent the physical system. By working with digital coordinate data and virtual interference models rather than complex physical sensors, the system achieves real-time detection with reduced hardware complexity.

Inventive Principle:

Principle #26Copying

Solution Approach 2:

Physical collision detection mechanisms are replaced with computational coordinate-based interference determination. The processor uses mathematical calculations on coordinate information to detect interference, substituting mechanical sensing with computational analysis to reduce system complexity.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

4Strength

If the movable range is precisely defined to avoid interference, then damage prevention is improved, but the setup time and configuration complexity increase

Engineering Contradiction:

Improvedamage prevention of driversVSAvoidmovable range configuration time

Core Design Contradiction:

StrengthVSLoss of time

Solution Approach 1:

The movable range determination is performed in advance during system setup or before accessory attachment. By pre-calculating the movable range based on accessory coordinates, the system avoids time-consuming adjustments during operation while ensuring driver protection.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The control device automatically determines the movable range based on accessory coordinate information without requiring manual configuration. The system self-adjusts the movable range parameters based on the provided coordinate data, eliminating complex manual setup procedures.

Inventive Principle:

Principle #25Self-service

Data Source

PatentUS11285606B2Control device, robot, control method, and non-transitory computer-readable recording medium

Publication Date: 2022.03.29 CASIO COMPUTER CO LTD

AI summary

A control device includes a processor which, when an accessory is fitted onto an apparatus, controls a driver such that the accessory interferes with operation of a movable part of the apparatus, acquires data indicating a position of the movable part at which the accessory interferes with the operation of the movable part, and controls the driver such that the movable part is driven within a movable range which is set based on the acquired data indicating the position of the movable part.