Robot Approach Area Correction for New Obstacle Detection
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Solution Overview
Problem
Existing robotic systems face challenges in real-time path planning and work area adjustments when new obstacles are introduced in environments where pre-calculated work allowable areas are defined, leading to potential failure in executing scheduled tasks.
Innovation Solution
An information processing device and system that incorporates a differential obstacle detector and an approach area corrector, which analyze sensor data to identify new obstacles and adjust the robot's work area dynamically, ensuring safe execution of tasks by generating a corrected approach area.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a work allowable area is calculated in advance using inverse kinematics and obstacle calculation processing, then the robot can perform scheduled work at predefined locations, but the calculation time is enormous and real-time adaptation to new obstacles is not possible
Solution Approach 1:
The patent pre-calculates and stores work allowable areas for multiple candidate locations before actual work begins. This preliminary calculation avoids performing complex inverse kinematics and obstacle checks in real-time during work execution, thus resolving the contradiction between ensuring reliable work execution and reducing calculation time.
Solution Approach 2:
The patent enables dynamic selection of work locations from pre-calculated candidate areas based on real-time obstacle detection. When new obstacles are detected, the system dynamically chooses an alternative location from the pre-computed options, allowing real-time adaptation without performing new complex calculations, thus balancing reliability with time efficiency.
2Productivity
If the robot follows a pre-defined path to work locations, then the work can be executed according to schedule, but the robot cannot adapt to new obstacles placed in the work allowable area
Solution Approach 1:
Multiple alternative work locations are pre-calculated and stored as candidate areas before work begins. This preparation enables the robot to maintain high productivity by selecting from pre-vetted options when obstacles are detected, rather than performing time-consuming path recalculation, thus resolving the contradiction between efficiency and adaptability.
Solution Approach 2:
The system continuously monitors the environment for new obstacles and uses this feedback to dynamically select alternative work locations from pre-calculated candidates. This feedback mechanism allows the robot to adapt to environmental changes while maintaining work execution efficiency by leveraging pre-computed data.
3Measurement precision
If complex inverse kinematics and obstacle calculation processing are performed in real-time, then the most accurate work location can be determined, but the calculation time is too long for real-time path planning while moving
Solution Approach 1:
The patent performs complex inverse kinematics and obstacle calculations in advance to create a library of pre-determined work allowable areas with high precision. During actual operation, the system simply selects from these pre-computed locations, maintaining measurement precision while achieving real-time response speeds, thus resolving the contradiction between accuracy and speed.
Data Source
AI summary
There are provided a device and a method that can quickly correct an approach area defined as a work area of a robot when a new obstacle that is not on a predefined map occurs. There are provided a differential obstacle detector that detects a differential obstacle corresponding to a difference from an obstacle recorded on a predefined map on the basis of information from a sensor that acquires travel environment information of the robot, and an approach area corrector that corrects, in consideration of the differential obstacle, a preset approach area in which a work by the robot is determined to be executable without contact with the obstacle, and generates a corrected approach area, the preset approach area including an area recorded on the predefined map. The approach area corrector determines whether or not a sampling point set inside the preset approach area allows the robot to work without contacting the differential obstacle, and generates the corrected approach area.