Robot Environment Mapping That Excludes Self-Detected Obstacles
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Solution Overview
Problem
Existing robot control systems face challenges in accurately grasping the surroundings due to negation of detection signals for operation units, leading to unclear environment situations and hindered safe operation, as relevant elements like robot arms are falsely recognized as obstacles.
Innovation Solution
A control apparatus and method that assesses the presence of relevant elements in environment information and switches to pre-acquired environment information excluding these elements, using bounding boxes and shape approximation to prevent false obstacle recognition and allow safe operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If detection signals for operation units are negated to prevent false obstacle recognition, then robot safety is improved, but the ability to grasp the surrounding environment deteriorates
Solution Approach 1:
The patent segments environment information into two categories: information from regions where relevant elements exist (negated/ignored) and information from regions where relevant elements do not exist (utilized for operation planning). This segmentation allows the system to selectively process sensor data, preventing false obstacle recognition while preserving useful environmental information for navigation and operation planning.
2Measurement precision
If detection signals for operation units are negated to prevent false obstacle recognition, then false obstacle recognition is reduced, but the ability to plan operations based on surrounding positions deteriorates
Solution Approach 1:
The patent applies local quality by treating different spatial regions differently: in regions where relevant elements (robot arms, grippers) are present, detection signals are negated to prevent false obstacle recognition; in regions where relevant elements are absent, detection signals are utilized to grasp environmental information for operation planning. This localized approach optimizes both obstacle detection accuracy and environmental awareness.
3Reliability
If detection signals for operation units are continuously negated to ensure safe operation, then false obstacle recognition is prevented, but operation planning capability deteriorates
Solution Approach 1:
The patent implements a dynamic approach where the treatment of detection signals changes based on the spatial context. The system dynamically switches between negating detection signals (when relevant elements are present) and utilizing detection signals (when relevant elements are absent). This dynamic processing enables both safe operation and effective operation planning by adapting to the specific operational context.
Data Source
AI summary
Provided is a control apparatus including: an assessment unit configured to assess whether a relevant element is represented by environment information acquired from a sensor or not; and an environment information setting unit configured to, in a case where the assessment unit has assessed that the relevant element is represented by the environment information, switch the environment information to acquired-in-advance environment information in which the relevant element is not included.