Accident XBot Handling

An Accident XBot is an XBot that runs into "Disabled" or "Undetected" state (see XBot State Descriptions) unexpectedly due to the following conditions:

1. Unexpected collision with external objects

2. XBot was forced into larger rotation that the system allows

3. Excessive force

4. Tracking error

When this happens, a software barrier is established to allow user to handle the accident XBot without interrupting the rest of the system. Once user finishes processing the accident XBot, they can choose to remove the accident XBot from the system, or let the accident XBot resume operations.

See also: Accident XBot Handling Example

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The accident barrier size is calculated based on the orientation and the size of the accident XBot. It is always 30mm larger than the furthest point of an XBot, shown below:

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The barrier will move with the accident XBot if user moves it manually (without lifting it too high):

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When the barrier is up, the XBot running towards the barrier will transition to "Stopped" state, and its motion buffer will be cleared:

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If an XBot is running towards the accident XBot is already inside the barrier, obstacle handling will activate and the moving XBot will enter "Obstacle" state and pause its motion:

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There are two ways to handle the accident XBot:

• User can choose to fix the root of the accident (e.g. removing external object that collides with the XBot), and resume the accident XBot. In this case, the barrier will be removed, the accident XBot will be activated, and ready to accept motion command. In the following example, after resuming the accident XBot, a moving downward command is sent to it

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• User can also remove the accident XBot and resume the system. In this case, the barrier will be removed, and the obstacle XBot will resume action
  

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