Interference Region Imaging for Robot Obstacle Detection Accuracy
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Solution Overview
Problem
Existing systems for detecting objects interfering with work devices, such as industrial robot arms, suffer from reduced accuracy due to changes in the background caused by the manipulator's motion.
Innovation Solution
A system and program that utilize an interference region detection unit, an interference region image generation unit, and an interference object detection unit to enhance object detection accuracy by generating an interference region image from a distance image and using AI processing to identify interference objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a distance sensor is used to detect obstacles in a manipulator's operation space, then obstacle detection capability is provided, but detection accuracy deteriorates due to background changes caused by manipulator motion
Solution Approach 1:
The patent segments the detection process into multiple stages: first detecting the manipulator's own position and interference region, then using this information to guide secondary detection of interference objects. This segmentation allows the system to focus computational resources on relevant areas, improving detection accuracy while managing system complexity.
Solution Approach 2:
The system performs preliminary detection of the manipulator's interference region before detecting interference objects. By first establishing what area the manipulator will occupy and generating an interference region image, the system prepares the detection framework in advance, enabling more accurate subsequent detection of objects within that region.
2Productivity
If the manipulator moves to perform work, then work capability is achieved, but background changes reduce object detection accuracy
Solution Approach 1:
The patent implements a dynamic detection system that adapts to the manipulator's motion. The interference region detection unit continuously updates the manipulator's position and recalculates the interference region based on current joint angles and link positions. This dynamic approach maintains detection accuracy throughout the manipulator's workspace while preserving full work capability.
Solution Approach 2:
The patent introduces an interference region image as an intermediary representation between the manipulator's physical motion and the object detection process. This intermediary captures the manipulator's spatial occupation in image form, allowing the system to distinguish between the manipulator's background and potential interference objects without restricting manipulator movement.
3Measurement precision
If the sensing direction is parallel to the link surface, then local monitoring is enabled, but detection accuracy deteriorates due to background changes
Solution Approach 1:
The patent extends detection from a single distance measurement dimension to a two-dimensional interference region image. By generating an interference region image that covers the entire manipulator's projected area, the system maintains accurate object detection while expanding monitoring coverage across the manipulator's full workspace, not just along a single sensing direction.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Improves the detection accuracy of objects interfering with work devices by excluding background images and utilizing additional sensors and position information, enabling precise interference object identification and safety measures.
Implementation Method 1
a distance measuring sensor 110 that measures a distance to an object
Implementation Method 2
an interference region image generation unit 120 that generates an interference region image from the distance image
Data Source
AI summary
To improve detection accuracy of an object interfering with a work device. A system includes an interference region detection unit, an interference region image generation unit, and an interference object detection unit. The interference region detection unit detects an interference region that is a region where, in a main body device including a work device including a movable unit, the work device interferes with an object. The interference region image generation unit generates, from a distance image that is an image in which distance information is reflected for each pixel, based on the interference region, an interference region image that is a region of the distance image including an interference object that is an object interfering with the work device. The interference object detection unit detects an interference object based on the interference region image.