Robot Proposition Mapping for Unmeasurable Workspace Areas
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Solution Overview
Problem
In robotics, defining propositions for operation plans based on temporal logic is challenging, especially when expressing forbidden areas, as some regions cannot be accurately measured by sensors, making it difficult to determine the extent of these areas effectively.
Innovation Solution
A proposition setting device and method that abstracts workspace states and uses relative area information to set propositional areas, allowing for the representation of propositions as areas, thereby facilitating the determination of operation plans for robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensor measurement is used to determine workspace areas, then measurement precision is improved, but areas that cannot be measured by sensors cannot be appropriately determined
Solution Approach 1:
The patent introduces an intermediary computational process that bridges sensor measurements and proposition definition. The proposition setting means acts as a mediator that takes both sensor measurement results and relative area information as inputs, then computationally determines propositional areas. This intermediary process allows the system to handle areas that sensors cannot directly measure by using relative area calculations based on measurable reference points.
2Adaptability or versatility
If relative area information is used to define propositional areas, then adaptability to unmeasurable areas is improved, but device complexity increases
Solution Approach 1:
The patent segments the proposition setting process into distinct functional components: an abstract state setting means that processes measurement results into abstract states, and a proposition setting means that uses these abstract states combined with relative area information to define propositional areas. This segmentation allows the system to handle complexity through modular processing, where each component performs a specific function rather than requiring a monolithic complex system.
3Productivity
If abstract states are set based on measurement results, then information processing efficiency is improved, but loss of detailed measurement information occurs
Solution Approach 1:
The patent applies partial action by setting abstract states that capture only the essential features needed for proposition definition rather than processing all measurement details. The abstract state setting means extracts relevant information from measurement results sufficient for defining propositional areas, avoiding the need to process and retain all raw measurement data. This partial processing maintains productivity while the proposition setting means compensates by incorporating relative area information to recover necessary spatial relationships.
Data Source
AI summary
A proposition setting device 1X mainly includes an abstract state setting means 31X and a proposition setting means 32X. The abstract state setting means 31X sets an abstract state which is a state abstracting each object in a workspace based on a measurement result in the workspace where each robot works. The proposition setting means 32X sets a propositional area which represents a proposition concerning each object by an area, based on the abstract state and a relative area information which is information concerning a relative area of each object.