Robot Pickup Control Using Safe-Distance Target Selection
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Solution Overview
Problem
Automatic machines working in shared spaces with humans face inefficiencies due to reduced operation speed and power when humans approach, leading to low work efficiency.
Innovation Solution
An object manipulation apparatus equipped with sensors, a pickup device, an object recognizer, a human recognizer, and a manipulation controller that selects target objects with safe distances longer than a threshold for efficient manipulation while minimizing collision risks with humans.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the operation speed and output power of the automatic machine are reduced when a human approaches, then safety is improved, but work efficiency deteriorates
Solution Approach 1:
The patent applies local quality by differentiating the response strategy for different target objects based on their spatial relationship with humans. Instead of uniformly reducing speed for all objects, the system identifies specific objects that are distant from humans and continues to manipulate them at high speed, while being cautious with objects close to humans. This localized differentiation resolves the contradiction by maintaining high productivity for safe objects while ensuring safety for objects near humans.
Solution Approach 2:
The patent implements dynamics by making the operation parameters (speed and power) dynamically adjustable based on real-time spatial relationships between the automatic machine, target objects, and humans. The control unit continuously monitors distances and dynamically selects appropriate operation modes, allowing the system to transition between high-speed efficient operation and low-speed safe operation depending on the specific situation, thus resolving the static contradiction between safety and efficiency.
2Productivity
If the automatic machine maintains high operation speed when a human is nearby, then work efficiency is improved, but safety deteriorates
Solution Approach 1:
The patent applies segmentation by dividing the workspace into different zones based on distance from humans. Target objects are segmented into those that are safe to manipulate at high speed (distant from humans) and those requiring caution (close to humans). The control unit selectively applies different speed regimes to different objects, allowing high efficiency for distant objects while maintaining safety for nearby objects, thus resolving the contradiction.
Solution Approach 2:
The patent utilizes parameter changes by adjusting operation parameters (speed, power) based on the spatial parameters (distance) between the automatic machine, target objects, and humans. The system changes operational parameters dynamically according to the distance metric, enabling high speed operation when safe and low speed when necessary, thereby resolving the contradiction between maintaining high efficiency and ensuring safety.
3Reliability
If the automatic machine reduces output power when a human approaches, then safety is improved, but work efficiency deteriorates
Solution Approach 1:
The patent applies local quality by differentiating power output levels for different target objects based on their spatial relationship with humans. Instead of uniformly reducing power for all operations, the system maintains high power output for objects distant from humans while reducing power only for objects close to humans. This localized power management resolves the contradiction by preserving efficiency for safe operations while ensuring safety for operations near humans.
Solution Approach 2:
The patent implements dynamics by making output power dynamically adjustable based on real-time spatial relationships. The control unit continuously monitors distances and dynamically selects appropriate power levels, allowing the system to transition between high-power efficient operation and low-power safe operation depending on the specific situation, thus resolving the static contradiction between safety and efficiency.
Data Source
AI summary
An object recognizer recognizes a position and an attitude of a target object based on data measured by a sensor. A safe distance calculator calculates a distance from the target object to a certain object which is other than an object manipulation apparatus and the target object. A manipulation controller controls the pickup device based on the position and the attitude of the target object, and based on the distance from the target object to the certain object. When there are a plurality of target objects to be selected by the object manipulation apparatus, the manipulation controller selects one of the target objects having distances to the certain object longer than a predetermined threshold, and manipulates the selected target object using the pickup device.