3D Camera Robot Control for Unexpected Moving Object Detection
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Solution Overview
Problem
Current methods for controlling robots in industrial environments to prevent hazards from moving objects are complex and require significant configuration, limiting their use due to the need for complex collision avoidance calculations and exclusion zones.
Innovation Solution
A system utilizing a three-dimensional camera to identify and track moving connected objects, distinguishing between expected and unexpected objects by analyzing frames for consistent motion vectors, and controlling the robot's motion accordingly, such as slowing or stopping, without requiring complex calculations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If exclusion zones are defined using LIDAR or pressure mats to prevent robot hazards, then safety is improved, but device complexity and configuration effort increase significantly
Solution Approach 1:
The patent replaces complex mechanical sensor systems (LIDAR, pressure mats) with a camera-based vision system. The camera captures images that are processed to identify moving objects and generate exclusion zones dynamically, eliminating the need for physical sensor installation and complex mechanical detection systems while maintaining safety functionality.
Solution Approach 2:
The system performs preliminary analysis of the workspace environment by capturing images and identifying static objects before robot operation begins. This preliminary action establishes a baseline model of the workspace that is used to dynamically generate exclusion zones during robot operation, reducing the need for complex real-time calculations and configuration.
2Reliability
If a robot arm is placed in a cage to prevent object entry, then safety is improved, but ease of operation and workspace flexibility deteriorate
Solution Approach 1:
The patent replaces the physical cage structure with a software-based exclusion zone system generated from camera images. This virtual barrier allows complete workspace accessibility while maintaining safety by dynamically identifying and restricting robot motion only in zones where moving objects are detected, eliminating the need for physical confinement structures.
3Reliability
If complex collision avoidance calculations are implemented to ensure safety, then reliability is improved, but device complexity and processing requirements increase
Solution Approach 1:
The system performs preliminary processing of workspace images to identify static objects and establish a baseline environmental model before robot operation. This pre-processing step separates static from dynamic elements, allowing the robot control system to focus only on detecting moving objects relative to the established baseline, significantly reducing real-time calculation complexity while maintaining collision avoidance reliability.
Solution Approach 2:
The patent extracts and removes static objects from the real-time detection process by comparing current camera frames against a baseline model of the static environment. Only changes in the image (potential moving objects) trigger exclusion zone updates, eliminating the need for continuous complex analysis of the entire workspace and reducing computational burden.
Data Source
AI summary
A method, system, and one or more computer-readable storage media for controlling a robot in the presence of a moving object are provided herein. The method includes capturing a number of frames from a three-dimensional camera system and analyzing a frame to identify a connected object. The frame is compared to a previous frame to identify a moving connected object (MCO). If an unexpected MCO is in the frame a determination is made if the unexpected MCO is in an actionable region. If so, the robot is instructed to take an action.