Robot Sensor Control Using Environmental Mapping When Targets Vanish
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Solution Overview
Problem
Existing robot control methods fail to accurately execute tasks when the work object cannot be detected by the sensor, particularly when using cameras, as they rely solely on sensor information for positioning and posture control.
Innovation Solution
The method incorporates environmental information from multiple sensor positions and angles to calculate control information, allowing the robot to approach a work goal even when the work object is not detected by the sensor, using a two-stage control process that includes first and second control information calculations based on environmental and sensor data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If robot control relies solely on sensor information for positioning and posture control, then the control system is simple, but the robot cannot accurately execute tasks when the work object is not detected by the sensor
Solution Approach 1:
The system pre-calculates environmental information and creates a model of the workspace before the robot begins its task. This preliminary action includes storing information about the environment from multiple sensor positions and angles, which is then used to guide the robot when the work object is not detected, allowing the robot to maintain task execution accuracy without real-time sensor detection
Solution Approach 2:
The patent introduces environmental information as an intermediary element between the sensor and the robot control system. When the work object cannot be detected directly by the sensor, the control device uses the pre-stored environmental information as a mediator to calculate appropriate positioning and posture control, enabling the robot to continue executing tasks accurately without direct sensor feedback
2Measurement precision
If the robot uses a single sensor position for detection, then the detection system is simple, but the robot cannot calculate accurate environmental information when the work object is at various positions
Solution Approach 1:
The detection system is segmented into multiple sensor positions and angles rather than using a single detection point. The control device acquires sensor information from multiple segmented positions, processes each separately, and integrates them to create comprehensive environmental information, thereby achieving high measurement precision for work objects at various positions
Solution Approach 2:
The system transitions from single-point detection to multi-dimensional detection by acquiring sensor information from multiple positions and angles. This dimensional expansion allows the robot to build a comprehensive three-dimensional understanding of the environment, enabling accurate environmental information calculation regardless of the work object's position
Data Source
AI summary
A robot control method is executed in a control device connected to a robot that performs a work on a work object and a sensor mounted on the robot. First, environmental information indicating a peripheral environment of the robot is calculated based on a plurality of pieces of environment sensor information acquired for the peripheral environment by using the sensor at a plurality of positions and angles. Subsequently, first sensor information is acquired by the sensor, and a first step of calculating first control information causing the robot to approach a work goal based on work goal information indicating the work goal, the environmental information, and the first sensor information is executed. Second sensor information is acquired by the sensor, and a second step of calculating second control information causing the robot to approach the work goal based on the work goal information and the second sensor information is executed.