Robot Task Flow Planning for Concurrent Interference Avoidance
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Solution Overview
Problem
Current robot path generation systems do not effectively account for interference between robots and objects during concurrent task execution, leading to inefficiencies and potential collisions.
Innovation Solution
A planning system that includes flow generating circuitry to create task flows based on concurrent execution constraints, confirmation circuitry to detect interference, and update circuitry to adjust constraints and regenerate task flows to prevent collisions, ensuring safe and efficient robot operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If robot path generation systems execute tasks concurrently to improve productivity, then productivity increases, but interference between robots and objects occurs leading to safety issues
Solution Approach 1:
The system performs preliminary interference detection on connection tasks before finalizing the operation program. The confirmation circuitry checks whether robots interfere with objects during connection tasks, and only generates the operation program when no interference is detected, preventing collisions before they occur
Solution Approach 2:
The system introduces connection tasks as intermediary steps between work tasks. These connection tasks serve as transition phases where the robot moves between work positions, and interference detection is specifically applied to these intermediary movements to ensure safety during concurrent execution
2Reliability
If the system performs interference detection for all tasks to ensure safety, then reliability improves, but planning time increases
Solution Approach 1:
The system extracts interference detection specifically for connection tasks, separating it from work tasks. The confirmation circuitry focuses detection efforts on connection tasks where interference is more likely to occur, rather than uniformly detecting all tasks, thus reducing overall planning time while maintaining safety
Solution Approach 2:
The system applies interference detection with different intensity to different task types. Connection tasks receive thorough interference detection since they involve movement through potentially hazardous zones, while work tasks have reduced detection requirements, optimizing the balance between safety and planning time
Data Source
AI summary
A planning system includes flow generating circuitry, confirmation circuitry, and update circuitry. The flow generating circuitry 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 and connection tasks to be connected to the work tasks. The confirmation circuitry is configured to determine whether at least one of the robots interferes with an object in the connection tasks. The update circuitry is configured to update the concurrent execution constraint when the at least one of the robots is determined to interfere with the object.