Robot Motion Control Using Driving Levels for Collision Avoidance
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Solution Overview
Problem
Robots often operate at a constant speed, which can reduce work efficiency and increase the risk of collision in varying environments, as they may move too quickly in spaces requiring slower speeds.
Innovation Solution
A robot that adjusts its moving speed based on surrounding environment information, using a processor to determine a driving level based on space, task type, and user presence, calculating maximum allowable acceleration to control speed and direction, allowing it to move at optimal speeds while avoiding obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot performs tasks at a preset constant speed, then the control system is simple, but work efficiency is reduced and collision risk increases in varying environments
Solution Approach 1:
The robot's moving speed is changed from a fixed constant value to a dynamic variable that adjusts automatically based on environmental conditions. The processor determines a driving level based on surrounding environment information and controls the driving unit to operate at different speeds corresponding to different driving levels, enabling the system to adapt to varying workspaces and improve productivity without requiring complex external control mechanisms
Solution Approach 2:
The robot autonomously determines its own driving level and adjusts its speed without external intervention. The processor automatically processes surrounding environment information, identifies the appropriate driving level, and controls the driving unit accordingly, making the system self-regulating and eliminating the need for additional complex control infrastructure
2Productivity
If the robot moves at a fast preset speed, then productivity increases, but collision risk increases in spaces requiring slow movement
Solution Approach 1:
The robot uses surrounding environment information as feedback to continuously adjust its driving level. The processor receives environmental data, determines the appropriate driving level based on this feedback, and adjusts the moving speed accordingly. This closed-loop control ensures the robot moves at high speeds in safe environments while automatically reducing speed in spaces requiring caution, thereby maintaining both productivity and safety
Solution Approach 2:
The moving speed parameter is changed from a fixed value to a variable that can take different values based on environmental conditions. The system defines multiple driving levels with corresponding speed ranges, and the processor dynamically selects and adjusts the speed parameter according to the determined driving level, allowing the robot to optimize between speed and safety by changing the velocity parameter in response to environmental feedback
3Reliability
If the robot adjusts speed dynamically based on environment, then safety and efficiency improve, but control complexity increases
Solution Approach 1:
The control system divides the operating environment into discrete driving levels based on surrounding environment information. Instead of implementing a continuous complex control algorithm, the system segments the speed control into multiple predefined driving levels with corresponding speed ranges. The processor determines which driving level applies and selects the appropriate speed, simplifying the control logic while still achieving adaptive speed adjustment for collision avoidance
Solution Approach 2:
The system uses predefined driving level parameters that map environmental conditions to specific speed ranges. Rather than implementing a complex real-time calculation algorithm, the processor changes the speed parameter by selecting from predefined driving level configurations. This parameter-based approach simplifies the control algorithm while maintaining the ability to adjust speed dynamically for safety
Data Source
AI summary
Disclosed is a robot. The robot comprises: a driving unit including a motor, and a processor configured to: determine a driving level of the robot based on surrounding environment information of the robot based on receiving a command for performing a task of the robot, determine, based on information about a maximum allowable torque and information about a maximum allowable speed which are preset for each driving level, a maximum allowable torque and a maximum allowable speed corresponding to the driving level of the robot, calculate the maximum allowable acceleration of the robot based on the maximum allowable torque, control the driving unit to control the robot to control the moving speed of the robot to reach the maximum allowable speed based on the maximum allowable acceleration, and control the robot to perform tasks while the robot is moving at the maximum allowable speed.