Robot Motion Limiting in 3D Unobservable Areas
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Solution Overview
Problem
Robots face challenges in avoiding obstacles in unobservable areas, leading to unexpected collisions due to limitations in environmental detection and navigation in dynamic environments.
Innovation Solution
A motion limiting device and method that utilize environmental sensors and a three-dimensional environment model to gradually decrease motion speed and operational force limits as a robot approaches an obstacle, mitigating impact when contact occurs in unobservable areas.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot moves at high speed to maintain productivity, then productivity is improved, but the impact of collision with obstacles in unobservable areas increases
Solution Approach 1:
The system performs preliminary identification of unobservable areas using a three-dimensional environment model before the robot enters them. Motion speed limits are predetermined based on the identified characteristics of these areas, so that when the robot approaches an unobservable area, the appropriate speed limit is already in place to reduce collision impact while maintaining productivity in observable areas
Solution Approach 2:
The system applies different motion speed limits to different spatial regions. In observable areas where the robot can detect obstacles, higher speed limits are applied to maintain productivity. In unobservable areas where obstacle detection is impossible, lower speed limits are applied to reduce collision impact. This localized differentiation resolves the contradiction between productivity and safety
2Reliability
If the robot reduces motion speed to avoid collision impact, then collision safety is improved, but productivity decreases
Solution Approach 1:
The system implements spatially varying motion speed limits where high speeds are permitted in observable areas to maintain productivity, while low speeds are enforced only in unobservable areas to ensure collision safety. This localized approach ensures that productivity is not compromised in areas where the robot can safely operate at higher speeds
Solution Approach 2:
The system pre-identifies unobservable areas and determines appropriate motion speed limits before the robot enters them. This preliminary preparation allows the robot to maintain high productivity in observable areas while automatically reducing speed only when necessary in unobservable areas, thus resolving the productivity-safety trade-off
3Productivity
If the robot operates at full operational force to maintain efficiency, then productivity is improved, but the harmful impact of contact with obstacles increases
Solution Approach 1:
The system applies different operational force limits to different spatial regions. In observable areas, full operational force is permitted to maintain productivity. In unobservable areas, reduced operational force limits are applied to minimize the harmful impact of potential contacts. This localized differentiation resolves the contradiction between productivity and harm reduction
Solution Approach 2:
The system pre-determines operational force limits based on the robot's position relative to unobservable areas. Before the robot enters an unobservable area, the appropriate force limit is already established, ensuring that even at full productivity in observable areas, the robot will reduce force automatically when entering areas where contact could cause harm
4Productivity
If the robot maintains high motion speed in unobservable areas, then productivity is maintained, but the risk of unexpected collision increases
Solution Approach 1:
The system performs preliminary identification of unobservable areas using a three-dimensional environment model and pre-determines appropriate motion speed limits before the robot enters these areas. This advance preparation ensures that the robot automatically reduces speed when entering unobservable areas, maintaining reliability while minimizing productivity loss
Solution Approach 2:
The system implements spatially varying motion speed limits where high speeds are permitted in observable areas to maintain productivity, while low speeds are enforced only in unobservable areas to ensure collision safety. This localized approach ensures that productivity is not compromised in areas where the robot can safely operate at higher speeds
Data Source
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AI summary
A motion limiting device includes: detection means that detects environmental information around a robot; generation means that generates, based on the environmental information detected by the detection means, a three-dimensional environment model that includes an unobservable area and an observable area and indicates a working environment in which the robot operates, the unobservable area being thae area where the environmental information cannot be detected by the detection means, and the observable area being the area where the environmental information can be detected by the detection means; and limiting means that limits a motion of the robot when it is determined that the robot has entered the unobservable area based on the three-dimensional environment model generated by the generation means.