Dynamic Robot Safety Zones for Human-Aware Motion Control
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Solution Overview
Problem
Current robot safety protection methods limit human-robot interaction by confining robots to fixed regions, which can lead to damage when humans suddenly move, as these methods rely on internal sensors that may fail, restricting the robot's ability to adapt to human movement.
Innovation Solution
A robot control method and apparatus that dynamically determine and classify regions around the human, allowing the robot to move safely within these regions, using external detection systems to prevent collisions by setting movement forbidden, interaction allowed, and slow movement zones, ensuring the robot's movement is controlled independently of its internal sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot is limited in a fixed region to protect human safety, then human safety is protected, but human-robot interaction is limited and the robot cannot adapt to human movement
Solution Approach 1:
The patent applies the dynamics principle by transitioning from fixed static safety regions to dynamic moving safety regions that track human movement in real-time. The safety region is no longer a fixed spatial boundary but dynamically adjusts its position and shape based on the human's current location, allowing the robot to operate more freely while maintaining safety protection.
Solution Approach 2:
The patent implements feedback by continuously monitoring the human's position and using this information to adjust the safety region boundaries. The system receives feedback about human movement and responds by updating the robot's motion constraints, creating a closed-loop control system that adapts to changing conditions while ensuring safety.
2Device complexity
If the robot uses internal sensors for safety detection, then the system is simple, but the sensors may fail and cannot detect sudden human movements effectively
Solution Approach 1:
The patent introduces an intermediary safety detection system that acts as a mediator between the human and the robot. This external detection system (such as cameras or external sensors) serves as an independent safety monitoring layer that does not rely on the robot's internal sensors, providing redundant safety detection capability and improving overall system reliability.
Solution Approach 2:
The patent applies beforehand cushioning by establishing external safety detection and region constraint mechanisms in advance, before any potential safety incidents occur. The system proactively creates safety regions and implements motion constraints based on predicted safety requirements, providing a safety buffer that prevents harmful interactions before they can happen.
3Object-affected harmful factors
If the robot is confined to fixed space for safety, then collision risk is reduced, but the robot cannot cooperate with human movement and interaction is restricted
Solution Approach 1:
The patent transforms the static fixed safety region into a dynamic moving safety region that follows the human's movement. This allows the robot's operational space to dynamically expand and contract based on the human's position, enabling the robot to cooperate with human movement patterns while maintaining appropriate safety distances and preventing collisions.
Data Source
Figure 1~2A
Figure 2B~2C
Figure 3~4
AI summary
The present invention relates to the field of robot technologies, and in particular, to a robot control method and apparatus, for protecting safety of a human during interaction between the human and a robot. The method includes: detecting a current location of the human (10); determining at least two regions (30) that surround the human (10) according to the detected current location of the human (10) ; and controlling movement of the robot (20) in any region (30) of the at least two regions (30), to protect safety of the human (10) during interaction between the human (10) and the robot (20). Because the region is set surrounding the human, movement of the human does not affect the interaction between the human and the robot. In addition, using a protected object as a target, the robot is controlled to move in regions that surround the human. Compared with a case in which the robot is limited in fixed space, no matter how the human moves, safety of the human may be effectively protected.