Robot Operation Planning With Trajectory Correction Feedback

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Solution Overview

Problem

Automatically formulated operation plans for robots may not align with user intentions, necessitating the ability to check and correct these plans to ensure accurate task execution.

Innovation Solution

A control device and method that includes an operation planning module to determine an initial operation plan, a display module to show trajectory information, and a correction reception module to receive user input for corrections, allowing for the determination of a revised operation plan based on user feedback.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If operation plan is automatically formulated based on given task, then productivity is improved, but reliability deteriorates because the formulated plan may not align with user intentions

Engineering Contradiction:

Improvetask execution efficiencyVSAvoidalignment with user intention

Core Design Contradiction:

ProductivityVSReliability

Solution Approach 1:

The system displays trajectory information to the user and receives corrections as feedback. The operation planning unit uses this feedback to iteratively refine the operation plan, ensuring it aligns with user intentions while maintaining automated efficiency.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system performs preliminary display of trajectory information before final execution. This allows users to review and correct the plan in advance, preventing errors in the actual task execution while maintaining automated productivity.

Inventive Principle:

Principle #10Preliminary action

2Reliability

If user can check and correct operation plan, then reliability is improved, but device complexity increases due to additional display and correction reception functions

Engineering Contradiction:

Improvealignment with user intentionVSAvoidcontrol system structure

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The operation planning unit serves multiple functions: it automatically formulates operation plans, displays trajectory information, receives corrections, and iteratively refines plans. This multi-functionality reduces the need for separate dedicated components, managing device complexity while improving reliability.

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Reliability

If trajectory information is displayed for user review, then reliability is improved, but loss of time increases due to additional review and correction steps

Engineering Contradiction:

Improvealignment with user intentionVSAvoidplan review and correction time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The system allows users to perform corrections only when necessary. If the automatically formulated plan already aligns with user intentions, no correction is needed, minimizing time loss. The display and correction functions are activated selectively rather than mandatorily for every operation plan.

Inventive Principle:

Principle #16Partial or excessive action

Data Source

PatentUS20240131711A1Control device, control method, and storage medium

Publication Date: 2024.04.25 NEC CORP

AI summary

A control device 1X mainly includes an operation planning means 17Y, a display control means 15Y, and a correction receiving means 16Y. The operation planning means 17Y determines a first operation plan of a robot which executes a task in which an object is used. The display control means 15Y displays trajectory information regarding a trajectory of the object based on the first operation plan. The correction receiving means 16Y receives a correction relating to the trajectory information based on an external input. Then, the operation planning means 17Y determines a second operation plan of the robot based on the correction received by the correction receiving means 16Y.