Mobile Robot Stop Pose Planning for Worker Access Zones
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Solution Overview
Problem
Autonomous or semi-autonomous mobile robots in facilities often interfere with workers' access to task locations, increasing task completion time and requiring navigational adjustments due to obstructive stop positions.
Innovation Solution
A system and method that involves a server determining a stop pose for the robot outside a restricted region to avoid obstructing the worker access zone, optimizing the robot's path to minimize interference and reduce navigational adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the mobile robot stops at the task location, then the robot can complete the task, but the robot obstructs the worker access zone increasing task completion time
Solution Approach 1:
The patent applies dimensionality change by transitioning the robot stop position from a two-dimensional point (at the task location) to a three-dimensional pose (position plus orientation) outside the restricted region. The server determines a stop pose that includes both a stop position outside the restricted region and a stop orientation, effectively using spatial dimensionality to resolve the conflict between task completion and worker access.
2Productivity
If the robot stops at the task location, then the task can be performed, but navigational adjustments are required increasing time and energy consumption
Solution Approach 1:
The patent applies preliminary action by pre-determining the optimal stop pose (position and orientation) before the robot executes the task. The server calculates and provides the stop pose in advance, allowing the robot to navigate directly to the predetermined position and orientation without requiring navigational adjustments during task execution, thus eliminating time loss from re-adjustments.
Data Source
AI summary
An example method of coordinating a mobile robot with a worker to access a task location of a task includes: obtaining the task location of the task for the mobile robot; defining a restricted region about the task location, the restricted region defining a region in which the mobile robot is restricted from stopping; identifying a worker access zone of the restricted region, the worker access zone for the worker to enter the restricted region to access the task location; determining a stop pose for the mobile robot, wherein the stop pose includes a stop position outside the restricted region and selected to avoid obstructing the worker access zone; and directing the mobile robot to the stop pose for completion of the task.