Robot Interference Evaluation Using Polyhedron Overlap
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing methods for detecting interference between robots require either real-time sensor detection or time-consuming simulations, leading to high computing costs and potential issues with generating trajectories when robots are close.
Innovation Solution
An interference evaluating device that acquires set positions, starting positions, and ending positions of robots and evaluates the risk of interference based on overlapping polyhedrons specified by these positions, reducing the need for real-time detection or simulations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If sensor detection is used to detect the approaching of actual robots, then interference can be detected in real-time, but the starting points of avoiding trajectories are in states where robots are close to one another, making trajectory generation impossible or redundant
Solution Approach 1:
The patent applies preliminary action by evaluating interference risk before robot motion execution using polyhedron overlap analysis. The system calculates potential interference between polyhedrons defined by robot positions and motion ranges in advance, identifying high-risk motions before they occur. This allows trajectory generation to start from safe configurations rather than reactive avoidance from close proximity, resolving the contradiction between reliable detection and feasible trajectory generation.
2Measurement precision
If simulations are carried out to judge whether robots are interfering with one another, then interference can be accurately evaluated, but time and computing costs are required
Solution Approach 1:
The patent uses simplified polyhedron models instead of complex full-robot simulations. By representing robots as polyhedrons defined by key positions (base position, end effector position, via points) and evaluating overlap between these geometric primitives, the system achieves adequate interference detection accuracy with significantly reduced computing costs and time, eliminating the need for resource-intensive simulations.
Solution Approach 2:
The patent segments the robot representation into key positional elements (base position, end effector position, via points) that define polyhedron vertices. This segmentation allows interference evaluation to focus on critical spatial relationships rather than simulating entire robot geometries and dynamics, reducing computational complexity while maintaining evaluation accuracy for trajectory planning purposes.
3Reliability
If full robot simulations are performed to evaluate interference, then comprehensive interference assessment is achieved, but computing costs increase significantly
Solution Approach 1:
The patent replaces expensive full-robot simulations with inexpensive polyhedron overlap calculations. By using simplified geometric models defined by key positions and evaluating their spatial overlap, the system achieves reliable interference assessment with minimal computing energy consumption, making the approach suitable for real-time trajectory planning and motion generation.
Data Source
AI summary
The present disclosure provides an acquisition unit acquiring an installation position, which serves as a point of origin within a range in which each of a plurality of robots can move, a start position, which is a prescribed location of each of the plurality of robots when in a starting posture, and an end position, which is a prescribed location when in a final posture, and an evaluation unit evaluates, for each of the plurality of robots, the risk of interference between the plurality of robots on the basis of overlap between polyhedra defined on the basis of polygons that include the installation position, the start position and the end position.