Bomb Disposal Grippers for Depth Sensing With One Camera
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Solution Overview
Problem
Existing bomb disposal robots lack depth perception, making it difficult for operators to accurately position grippers, which can lead to safety hazards and increased mission time due to reliance on a single camera and the limitations of existing methods like triangulation, shadow casting, and zip-ties, especially in environments with limited visibility or debris.
Innovation Solution
A robot equipped with opposed grippers that dynamically adjust their separation distance, featuring lateral sensors to determine this distance and convert it to longitudinal depth perception, providing real-time feedback to the operator through visual, auditory, or haptic means, allowing precise manipulation of ordnance without additional cameras or hardware.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single camera is used for remote operation, then device complexity is reduced, but depth perception capability is lost
Solution Approach 1:
The patent introduces an intermediary measurement system consisting of sensors mounted on the grippers that measure separation distance. This intermediary system bridges the gap between the single camera's 2D view and the need for 3D depth perception, allowing the operator to infer longitudinal distance through the measured lateral separation of grippers
Solution Approach 2:
The patent replaces the optical-mechanical camera system with a sensor-based measurement system. Instead of relying on complex stereoscopic camera arrangements, the invention uses sensors to directly measure the separation distance between grippers, converting mechanical position data into depth information
2Measurement precision
If multiple cameras are added for depth perception, then depth perception capability is improved, but device complexity and cost increase
Solution Approach 1:
The patent extracts the depth measurement function from the camera system and places it on the grippers themselves. By removing the dependency on multiple cameras and placing sensors directly on the manipulating components, the system achieves depth perception without adding complex camera infrastructure
Solution Approach 2:
The grippers perform dual functions: they manipulate the ordnance and simultaneously measure their own separation distance through mounted sensors. This self-service approach eliminates the need for separate depth measurement systems, as the manipulating components themselves provide the measurement capability
3Measurement precision
If zip ties are used as visual cues, then depth information is provided, but the method involves directly touching the explosive ordnance which is not always permissible
Solution Approach 1:
The patent replaces the physical zip tie markers with sensor-based measurement systems. Instead of using tangible objects that require contact with the ordnance, the system uses sensors to non-contactedly measure gripper separation distance, providing depth information without compromising safety protocols
4Measurement precision
If shadow casting is used for depth perception, then visual cues are provided, but the method is severely limited to environments that have ideal lighting
Solution Approach 1:
The patent replaces the optical shadow-based system with a sensor-based measurement system. By using sensors to directly measure gripper separation distance, the system eliminates dependency on environmental lighting conditions, enabling operation in dark, smoky, or debris-filled environments where shadow casting fails
Data Source
AI summary
A robot for disposal of hazardous ordnance, such as IEDs. The robot has a pair of opposed grippers extending outwardly in the longitudinal direction to respective distal ends. The grippers are mutually openable and closable to grasp the ordnance. As the grippers open and close they automatically move aft and fore, respectively. The robot has a single camera but no depth vision in the longitudinal direction. A sensor is mounted on the opposed grippers to determine the separation distance between the sensors as they open and close in real time. The lateral separation distance is automatically converted a to a longitudinal distance from the ordnance by the relationship between the lateral separation distances and the longitudinal advance of the grippers upon closing.