Robot Task Flow Planning Under Concurrent Interference Constraints
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Solution Overview
Problem
Existing robot path generation systems do not efficiently account for interference between robots and objects during concurrent task execution, leading to increased time spent on interference confirmation and suboptimal task flow planning.
Innovation Solution
A planning system that includes a flow generator for creating task flows based on concurrent execution constraints, a confirmation unit to determine interference with objects, and an update unit to adjust constraints, ensuring efficient robot operation by avoiding interference and optimizing task execution times.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If interference confirmation is performed for all possible task flows, then interference detection accuracy is improved, but planning time increases significantly
Solution Approach 1:
The patent segments the task flow confirmation process by dividing all possible task flows into two categories: those generated based on concurrent execution constraints and those not. The confirmation unit only performs interference confirmation on the segmented subset that adheres to constraints, rather than checking all possible task flows. This segmentation resolves the contradiction by maintaining adequate interference detection accuracy while significantly reducing planning time.
Solution Approach 2:
The patent applies partial action by performing interference confirmation only on task flows that are generated based on concurrent execution constraints, rather than performing exhaustive confirmation on all possible task flows. This partial confirmation approach is sufficient to ensure safety while avoiding the excessive time cost of complete verification, thus resolving the time-accuracy tradeoff.
2Productivity
If concurrent execution constraints are applied to task flow generation, then planning efficiency is improved, but task flow flexibility decreases
Solution Approach 1:
The patent makes the concurrent execution constraints dynamic by allowing the planning system to adaptively adjust constraint strictness based on the specific task scenario. The system can relax constraints when interference risk is low and tighten them when risk is high, thus maintaining planning efficiency while preserving necessary task flow flexibility for different operational contexts.
Solution Approach 2:
The patent changes the parameters of concurrent execution constraints based on task characteristics and environmental conditions. By adjusting constraint parameters dynamically rather than applying fixed constraints, the system achieves both high planning efficiency and adequate task flow flexibility to adapt to varying operational requirements.
Data Source
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AI summary
A planning system includes a flow generator (131), a confirmation unit (133), and an update unit (134). The flow generator (131) is configured to generate a task flow which includes work tasks predetermined based on a concurrent execution constraint with respect to concurrent execution of tasks performed by robots (2) and connection tasks to be connected to the work tasks. The confirmation unit (133) is configured to determine whether at least one of the robots (2) interferes with an object in the connection tasks. The update unit (134) is configured to update the concurrent execution constraint when the at least one of the robots (2) is determined to interfere with the object.