Robot Layout Generation Using Waypoints and Obstacle Avoidance

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Solution Overview

Problem

Existing layout generation systems for robots require significant user input and are inefficient in determining arrangements that minimize robot operation time, especially when obstacles are present.

Innovation Solution

A layout generation device and method that utilize a processor to register waypoints, generate arrangement candidates using particle swarm optimization, evaluate operation times, and automatically generate obstacle avoidance paths to optimize robot operation time.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If conventional layout generation systems are used, then user selection of arrangement patterns is required, but the robot operation time cannot be minimized efficiently

Engineering Contradiction:

Improverobot operation timeVSAvoidarrangement search complexity

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The system performs automatic arrangement search and evaluation without requiring user selection of arrangement patterns. The processor automatically generates multiple arrangement candidates, evaluates their operation times, and determines the optimal layout, making the system self-sufficient in optimizing robot operation time.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The system changes the evaluation parameter from simple geometric fit to operation time calculation. By calculating the actual operation time for each arrangement candidate based on robot movement paths and obstacle avoidance requirements, the system identifies arrangements that minimize operation time rather than relying on user-selected patterns.

Inventive Principle:

Principle #35Parameter changes

2Measurement precision

If detailed evaluation of operation time is performed for each arrangement, then optimal layout can be found, but processing time and computational load increase

Engineering Contradiction:

Improveoperation time evaluation accuracyVSAvoidprocessing time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The system performs evaluation on a selected number of arrangement candidates rather than exhaustively evaluating all possible arrangements. By generating multiple candidates and evaluating a manageable subset, the system achieves sufficient optimization accuracy without excessive processing time.

Inventive Principle:

Principle #16Partial or excessive action

Solution Approach 2:

The system calculates operation times for multiple arrangement candidates in advance before final layout determination. This preliminary evaluation allows the system to identify promising candidates and select the optimal arrangement based on pre-computed operation time data, reducing the need for iterative refinement.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS12214504B2Layout generation device, layout generation method, and layout generation program

Publication Date: 2025.02.04 DENSO CORP

AI summary

A layout generation device includes: a waypoint registration unit, an arrangement generation unit, an arrangement evaluation unit, an arrangement extraction unit, a path determination unit, a path generation unit, an arrangement exclusion unit, and an arrangement evaluation update unit. The arrangement evaluation unit evaluates, as an evaluation value, an operation time of a robot without considering an obstacle for each of arrangements. The arrangement extraction unit extracts an arrangement having a best evaluation value from among the evaluated arrangements by the arrangement evaluation unit. The path determination unit determines whether or not an extracted arrangement extracted by the arrangement extraction unit needs to avoid an obstacle in terms of an operation of the robot via a waypoint.