Robot Path Planning Using Subspace Navigability Maps
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Solution Overview
Problem
Existing robots struggle to navigate complex spaces efficiently, often leading to collisions or deviations due to insufficient consideration of various types of information in path planning, especially when multiple robots are present.
Innovation Solution
A robot is configured to divide its traveling space into subspaces and generate a minimum time path by considering navigability information, including region, other robots, and dynamic objects, using sensors and a processor to control its movement based on this data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot performs multiple tasks using multiple tools, then task versatility is improved, but tool identification accuracy deteriorates due to similar appearances of different tools
Solution Approach 1:
The patent introduces a teaching tool as an intermediary object that carries unique identification information. This teaching tool serves as a mediator between the tool magazine and the robot controller, enabling accurate tool identification without relying on visual recognition of the actual tools. The teaching tool is temporarily placed in the tool magazine during teaching mode to transfer identification data to the robot's memory.
Solution Approach 2:
The patent creates a virtual copy or model of the tool magazine and its tools in the robot controller's memory. During teaching mode, the system stores identification information of tools in a virtual tool magazine, which mirrors the physical tool magazine's structure and tool arrangements. This virtual representation allows the robot to identify and select tools based on stored data rather than real-time visual recognition.
2Device complexity
If visual recognition is used to identify tools, then no additional teaching equipment is needed, but identification accuracy deteriorates when tools have similar appearances
Solution Approach 1:
The teaching tool acts as an intermediary that bridges the gap between simple equipment and accurate identification. Instead of relying on complex visual recognition algorithms, the system uses a simple physical teaching tool with embedded identification information to communicate tool identities directly to the robot controller.
Solution Approach 2:
The patent replaces the visual recognition system (optical/electronic) with a mechanical teaching system. The teaching tool physically interacts with the tool magazine and robot controller through standardized interfaces, substituting complex image processing with straightforward mechanical positioning and data transfer.
3Measurement precision
If multiple cameras are used for visual recognition, then identification capability is improved, but system complexity and cost increase
Solution Approach 1:
The patent extracts the identification function from the visual recognition system and places it in the teaching tool. Instead of using multiple cameras to capture and analyze tool images, the system extracts identification information directly from the teaching tool's embedded data, eliminating the need for complex imaging hardware.
Solution Approach 2:
The system creates a simplified digital copy of tool identification data stored in the teaching tool and robot controller, replacing the need for multiple physical cameras and complex image processing infrastructure.
Data Source
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AI summary
A robot is disclosed. The robot comprises: at least one sensor; a traveling unit; a memory storing at least one instruction; and a processor, wherein the processor executes the at least one instruction to: identify a traveling space of the robot as a plurality of subspaces; obtain navigability information corresponding to each of the plurality of subspaces on the basis of sensing data obtained by the at least one sensor while the robot is traveling; obtain information about a required time for passing through each of the plurality of subspaces on the basis of a traveling map obtained on the basis of the obtained navigability information; identify a traveling path of the robot on the basis of the obtained information about the required time; and control the traveling unit on the basis of the identified traveling path, and the navigability information includes at least one of region information related to the subspaces, information related to another robot, or information related to a dynamic object.