Robot Work Resumption via Real-Time State Storage
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Solution Overview
Problem
Existing work robots face challenges in resuming work from the exact state before interruption, leading to waste and inefficiency due to the inability to store and retrieve working state information effectively, especially in cases of power failures or emergency stops.
Innovation Solution
A work robot with a holding unit, relative moving means, information processing unit, and a variable storage unit that stores working state information in real-time, allowing continuous resumption of work from the step preceding the interruption, using volatile RAM with a battery power source for short interruptions and nonvolatile memory for longer ones.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the program is interrupted due to power failure or emergency stop, then the work robot stops execution, but the working state information is lost and work cannot be resumed from the interrupted state
Solution Approach 1:
The patent applies preliminary action by continuously storing working state information in real-time during program execution. Before an interruption occurs, the system has already saved the current state (position, speed, acceleration, program counter) to non-volatile memory, enabling resumption without loss. This is implemented through the control unit's continuous updating of state variables to the storage device during normal operation.
Solution Approach 2:
The patent uses copying by creating a digital replica of the working state information and storing it in non-volatile memory. The control unit continuously copies critical parameters (position, speed, acceleration, program execution state) from volatile memory to non-volatile storage, ensuring a backup exists even if power is lost. This copied state enables precise resumption of work.
2Productivity
If the program is executed from the first instruction after interruption, then the work robot can restart, but the workpiece and liquid material are wasted and working time is lost
Solution Approach 1:
The system performs preliminary action by pre-storing the working state information including the current program counter and execution state before interruption occurs. This allows the robot to resume exactly where it left off rather than restarting from the beginning, preventing waste of workpieces and liquid material that would be consumed during a full re-execution of the program.
Solution Approach 2:
The patent applies discarding and recovering by recovering the working state information from non-volatile memory after interruption. Instead of discarding the partial work progress and starting over with new workpieces and materials, the system retrieves the saved state and continues from the interrupted point, thereby recovering the value of previously consumed resources.
3Reliability
If the emergency stop is delayed due to worker hesitation, then the worker may avoid false stops, but actual emergencies may not be stopped in time causing harm
Solution Approach 1:
The system uses copying to create a record of the working state before emergency stop. This allows the worker to confidently press the emergency stop button knowing the system has already captured the state, eliminating hesitation. The copied state ensures that even if the stop is immediate, the information is preserved for accurate resumption later.
Solution Approach 2:
The preliminary storage of working state information occurs before the emergency stop is activated. This preliminary action removes the worker's uncertainty about information loss, enabling faster response time to actual emergencies while maintaining reliability through the pre-captured state data.
4Reliability
If the work robot returns to origin and recalibrates after interruption, then the system can be reset, but the program execution time is extended and productivity is reduced
Solution Approach 1:
The patent uses copying to preserve the working state information including position and program counter in non-volatile memory. After interruption, the system retrieves this copied state and resumes execution without needing to return to origin or recalibrate, thereby eliminating the time loss associated with full system reset while maintaining reliability through the preserved state data.
Solution Approach 2:
The system recovers the working state information from non-volatile memory after interruption, discarding the need for time-consuming reset procedures like returning to origin. By recovering the saved state, the system skips the calibration and repositioning steps, significantly reducing program execution time while maintaining accuracy through the preserved state information.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Minimizes waste and working time loss by enabling precise resumption of work from the interrupted state, even after power failures or emergency stops, by storing and retrieving working state information efficiently.
Implementation Method 1
using volatile RAM with a battery power source for short interruptions
Implementation Method 2
nonvolatile memory for longer ones
Data Source
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AI summary
A work robot includes a holding unit for holding a work device, holding unit moving means, an information processing unit, a storage unit, and a variable storage unit. The work robot performs work by relatively moving the holding unit and a workpiece in accordance with a program instruction. When execution of the work is in progress, the program successively stores working state information in the variable storage unit. When the program is forced to end in the middle of the work and then the work is to be resumed, the program resumes the work in accordance with the working state information stored in the variable storage unit. Thus, even when the program is forced to end, the work can be resumed from the working state immediately before the forced end.