Robot Path Candidate Selection for Collision-Avoidable Motion
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Solution Overview
Problem
Current methods for setting robot operation paths require users to manually teach all points on the path, which is labor-intensive and time-consuming, and can make it difficult for humans to predict the robot's motions, especially when collision avoidance is a concern.
Innovation Solution
An apparatus and method that generate multiple path candidates for a robot using region-of-occupancy information, allowing users to select a collision-avoidable path without manually teaching each point, with evaluation results for moving distance and collision risk displayed for easy selection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If all path points are manually taught before robot operation, then the robot's operation path is precisely defined, but user labor and time consumption increase significantly
Solution Approach 1:
The system performs preliminary path planning by generating multiple candidate paths before robot operation using region-of-occupancy information. This preliminary action eliminates the need for manual teaching of all path points, significantly reducing path setting time while maintaining precision through automated evaluation and selection of optimal paths.
Solution Approach 2:
The robot system automatically generates and evaluates path candidates using its own computational resources and pre-acquired environmental information. The path planning is performed self-service without requiring external manual intervention for each path point, reducing user labor while ensuring accurate path definition through systematic evaluation criteria.
2Ease of operation
If path is automatically generated during robot operation, then user labor for path setting is reduced, but it becomes difficult for humans to predict robot motions
Solution Approach 1:
Multiple path candidates are generated in advance before robot operation using region-of-occupancy information. This preliminary generation allows users to review and understand the planned paths before execution, maintaining motion predictability while significantly reducing path setting labor through automated path planning.
Solution Approach 2:
The system provides feedback to users by displaying multiple generated path candidates with their evaluation results. This feedback mechanism allows users to understand and predict robot motions before execution, maintaining transparency while enabling easy path selection without manual teaching of all points.
3Reliability
If multiple path candidates are generated using region-of-occupancy information, then collision-free paths are ensured, but computational complexity increases
Solution Approach 1:
Region-of-occupancy information is acquired and processed in advance before path generation. This preliminary preparation of environmental data simplifies the path generation process by providing pre-processed spatial information, ensuring collision-free paths while reducing computational complexity during actual path planning.
Solution Approach 2:
The system generates multiple path candidates beyond the single optimal path to ensure collision-free operation. By generating a sufficient number of candidates and evaluating them against region-of-occupancy constraints, the system ensures reliability without requiring excessively complex computational methods for each individual path.
Data Source
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AI summary
A method is provided that includes: receiving designation of one or more operation sections; generating a plurality of path candidates (40a-40f) of a robot (200) for a target operation section of the one or more operation sections; displaying the plurality of path candidates (40a-40f) on a user interface (504); receiving a selection of one of the plurality of path candidates (40a-40f); and deciding the selected path candidate as the operation path of the target operation section.