Robotic Obstacle Detection Using Predictive Tolerance Boundaries
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Solution Overview
Problem
Autonomous robots face challenges in precision due to imprecise actuators and sensors, leading to potential collisions and damage during object retrieval and placement tasks, especially when dealing with freely organized objects without specialized storage equipment.
Innovation Solution
The implementation of predictive obstruction detection systems in robots, which use sensors to compute tolerances and detect potential obstructions before tasks are executed, allowing for preemptive adjustments or task abortion to avoid collisions and ensure safe operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If fixed slots or spaces with sidewalls are used in storage shelving, then object retrieval and placement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent replaces the mechanical guidance system (fixed slots with sidewalls) with a sensor-based predictive detection system. The robot uses sensors to detect object positions and computes whether imprecise operations will cause collisions, substituting physical constraints with computational analysis to achieve the same precision goal without the complexity of specialized shelving.
2Manufacturing precision
If fixed slots or spaces are used in storage shelving, then object placement accuracy is improved, but adaptability to different object dimensions deteriorates
Solution Approach 1:
The patent introduces dynamic adaptability through software-based tolerance computation rather than fixed mechanical slots. The robot dynamically adjusts its operational parameters based on real-time sensor data and computed tolerances, allowing it to adapt to objects of varying dimensions without requiring physical reconfiguration of the storage shelving structure.
Solution Approach 2:
The system changes operational parameters (position, orientation, approach angle) based on detected object characteristics and computed tolerances. Instead of fixed slot dimensions, the robot modifies its motion parameters dynamically to accommodate different object sizes and shapes while maintaining placement accuracy.
3Object-affected harmful factors
If predictive obstruction detection is implemented, then object damage risk is reduced, but measurement and detection difficulty increases
Solution Approach 1:
The patent performs preliminary detection and computation of potential obstructions before the robot executes its retrieval or placement operation. By detecting object positions and computing collision risks in advance, the system prevents object damage without requiring complex real-time intervention during the actual operation.
Solution Approach 2:
The patent introduces an intermediary computational layer that processes sensor data and determines collision risk. This intermediary computation layer mediates between raw sensor measurements and robot control actions, simplifying the detection task by focusing specifically on tolerance-based collision prediction rather than full scene understanding.
Data Source
AI summary
Provided are systems and methods by which robots predictively detect objects that may obstruct robotic tasks prior to the robots performing those tasks. For instance, a robot may receive a task, and may obtain dimensions of a task object based on a first identifier obtained with the task or with a sensor of the robot. The robot may determine a first boundary for moving the task object based on the task object dimensions and an added buffer of space that accounts for imprecise robotic operation. The robot may detect a second identifier of a neighboring object, and may obtain dimensions of the neighboring object using the second identifier. The robot may compute a second boundary of the neighboring object based on the dimensions of the neighboring object and a position of the second identifier, and may detect an obstruction based on the second boundary crossing into the first boundary.