Robot Speed Switching With Object Detection for Collision Avoidance
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Solution Overview
Problem
Existing robot systems face interference issues when switching modes, as users manually control the robot, leading to potential collisions between the robot and objects, particularly when the robot is set to a mode different from the cooperation mode.
Innovation Solution
A robot system with a controller that includes an object detecting device to switch between a low-speed 'human cooperation mode' and a high-speed 'normal mode' based on the presence of objects, ensuring the robot operates at a safe speed to prevent interference, even when the object detecting device is not directly coupled to the controller.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot operates in automatic mode with high speed, then productivity is improved, but the risk of interference with objects increases when objects approach the robot
Solution Approach 1:
The robot control system dynamically adjusts its operating mode between first mode (restricted speed) and second mode (high speed) based on real-time object detection. When an object approaches within a predetermined distance, the system automatically switches from second mode to first mode, creating a dynamic response that adapts speed limits to the presence of objects, thereby resolving the contradiction between maintaining high productivity and preventing interference.
Solution Approach 2:
The system implements a feedback mechanism where the object detecting device continuously monitors the environment and provides information to the control unit. Based on this feedback about object proximity, the control unit automatically adjusts the robot's operating mode. This closed-loop feedback system enables the robot to respond appropriately to environmental conditions, maintaining safety while optimizing productivity when safe to do so.
2Ease of operation
If manual mode switching is implemented, then operational flexibility is improved, but the likelihood of interference increases when users are present near the robot
Solution Approach 1:
The system eliminates the need for manual mode switching by implementing self-service automatic mode selection. The object detecting device and control unit work together to automatically determine the appropriate operating mode based on detected objects, removing the manual intervention step that previously created safety risks. The robot serves itself by autonomously adjusting its operational characteristics according to environmental conditions.
Solution Approach 2:
The system performs preliminary action by proactively switching to first mode before potential interference can occur. When the object detecting device detects an object approaching within the predetermined distance, the system preemptively reduces speed limits and restricts movement, preventing the interference scenario from developing rather than reacting after the fact.
3Reliability
If object detection is always active, then safety is improved, but device complexity increases due to coupling requirements
Solution Approach 1:
The control unit is designed with multi-functionality, serving both as the primary controller for robot operation and as the processing unit for object detection signals. By integrating the object detection processing capability within the existing control unit rather than requiring a completely separate dedicated system, the patent reduces overall device complexity while maintaining reliable object detection and safety functions.
Data Source
AI summary
A controller of a robot includes a first coupling section coupled to an object detecting device configured to detect an object. The controller is configured to control the robot in one of a first mode in which displacement speed of the robot does not exceed first speed and a second mode in which the displacement speed is second speed higher than the first speed, when the object detecting device is coupled to the first coupling section, switch the first mode and the second mode based on an output from the object detecting device, and control the robot in the first mode when the object detecting device is not coupled to the first coupling section.