Robot Path Reentry Using a Shortest-Approach Touchdown Position
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Solution Overview
Problem
Existing methods for robot travel along predetermined paths can result in long, unpredictable detours when the robot needs to reposition onto a new path section, especially if the end position is far from the current robot position.
Innovation Solution
A method for determining a touchdown position on a current path section, where a distance parameter is calculated based on the distance between the robot's current position and the path section, and the robot approaches this position if a touchdown condition is met, ensuring efficient repositioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If the robot approaches the end position of the current path section linearly (SAK travel), then the robot can reach the target position, but it may result in long detours and unpredictable paths when the end position is far from the current robot position
Solution Approach 1:
The system pre-calculates and stores multiple possible approach paths to the current path section before execution. When repositioning is needed, the robot selects from these pre-planned paths rather than computing a new path in real-time, reducing online computational complexity while ensuring efficient travel.
Solution Approach 2:
The path selection is made dynamic based on the robot's current position and state. The system evaluates multiple pre-calculated paths and selects the optimal one based on current conditions, allowing the robot to adapt to different situations while maintaining efficient travel.
2Ease of operation
If the robot is repositioned manually after interruption, then the robot can be placed on a new path section, but the path section may need to be manually changed or repositioned before continuing travel
Solution Approach 1:
After manual repositioning or path section changes, the robot automatically detects its current position relative to the path sections and determines the optimal approach path. This feedback mechanism eliminates the need for manual path section changes and enables automatic resumption of travel, reducing downtime while maintaining ease of manual intervention.
3Reliability
If the robot follows a specified optimized path, then collision-free travel is ensured, but the robot may need to make long journeys away from the specified path to reach the end position when far from the current path section
Solution Approach 1:
The travel path is segmented into two parts: an optimized collision-free path section and a linear approach path to reach that section. The robot first travels along the optimized path to a safe touchdown position, then approaches the current path section linearly. This segmentation ensures both collision-free travel and efficient repositioning.
Solution Approach 2:
The system introduces an intermediate touchdown position as a mediator between the robot's current position and the target path section. The robot first travels to this intermediate position using the optimized path, then proceeds to the final destination, ensuring both safety and efficiency.
Data Source
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AI summary
The invention relates to a method for moving along a predetermined track with a robot (10) in an at least partially automated manner, said method comprising the steps of: - determining (S70) a deployment position (xn) on a current track section (Y a1) of the predetermined track, for which a distance characteristic variable, which is determined on the basis of a distance of a current position (x a1) of the robot relative to the current track section, satisfies a predetermined condition, in particular its value being less than or equal to the values of the distance characteristic variable of all positions in a partial area of the current track section, which is in particular complementary to the deployment position; and - moving (S80) to the deployment position with the robot, in particular as far as a deployment condition is satisfied.