Kinematic Linkage Position Monitoring With 2D Safe-Space Checks
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Solution Overview
Problem
Existing methods for monitoring kinematic linkages in shared workspaces are computationally demanding, leading to delayed reaction times in collision detection and safety assurance, which is undesirable in environments where safety requirements are high.
Innovation Solution
Modeling kinematic objects with less than two dimensions, modifying the monitoring space by adjusting geometric parameters such as distance, allowing for faster collision detection without needing to compute intersections of three-dimensional geometric bodies.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If continuous monitoring is performed by calculating intersecting points/lines/areas of three-dimensional geometric bodies, then collision detection accuracy is improved, but computational demand increases leading to slower reaction time
Solution Approach 1:
The patent transforms the monitoring problem from three-dimensional geometric body intersection calculations to two-dimensional projection plane monitoring. By projecting the monitoring area onto a two-dimensional plane and monitoring whether kinematic objects leave this projected area, the computational complexity is significantly reduced while maintaining essential safety monitoring functionality.
Solution Approach 2:
The patent extracts only the essential monitoring information by projecting the three-dimensional monitoring area onto a two-dimensional plane. This extraction approach retains the critical safety information (whether objects are within safe zones) while eliminating unnecessary computational overhead associated with full three-dimensional intersection calculations.
2Measurement precision
If three-dimensional geometric bodies are used to model robot parts and workspace boundaries, then monitoring accuracy is improved, but device complexity and computational load increase
Solution Approach 1:
The patent reduces the dimensional complexity of the monitoring system by projecting three-dimensional geometric bodies onto a two-dimensional plane. This dimensionality reduction simplifies the computational models while preserving the essential spatial relationships needed for safety monitoring, thereby reducing device complexity without sacrificing critical monitoring accuracy.
Solution Approach 2:
The patent segments the complex three-dimensional monitoring problem into simpler two-dimensional projection calculations. By dividing the monitoring task into discrete projection operations on a two-dimensional plane, the system achieves lower computational complexity while maintaining the ability to detect critical safety conditions.
Data Source
AI summary
In order to detect when a kinematic linkage leaves workspaces and/or enters safe spaces, using little computing power, and therefore doing so more quickly, at least a part of the kinematic linkage is modeled with a number of kinematic objects, and a monitoring space is specified. The number of kinematic objects is modeled in less than two dimensions D<2. For each modeled kinematic object, a geometric variable of a monitoring space is modified by a distance. Each distance is derived from at least one geometric parameter of the modeled kinematic object. The position of each of the number of kinematic objects is checked in relation to the modified monitoring spaces.