Manipulator Link Sensor Layout for Local Obstacle Detection
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Solution Overview
Problem
Existing manipulator systems are not suitable for individually monitoring local operation spaces of each link, leading to increased analysis processing load and potential blind spots in obstacle detection.
Innovation Solution
A manipulator with a simplified sensor configuration, including distance sensors installed back-to-back along the link's side surface, using a triangular distance measurement system with modulated infrared projection light, to accurately monitor obstacles in the rotating direction without interfering with the movement operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If image analysis is used to detect obstacles including local operation space, then detection coverage is improved, but processing load increases
Solution Approach 1:
The patent replaces complex image analysis processing with simple distance measurement using time-of-flight sensors. Instead of analyzing images to detect obstacles, the system uses optical flight time measurement to directly obtain distance information, significantly reducing processing load while maintaining detection capability.
Solution Approach 2:
The patent extracts only the essential distance information needed for obstacle detection, rather than processing complete image data. By using distance sensors to measure only the relevant parameter (distance to obstacle), the system avoids the computational burden of full image analysis while achieving the detection goal.
2Measurement precision
If image analysis is used to detect obstacles, then detection coverage is improved, but blind spots are generated
Solution Approach 1:
The patent divides the monitoring task into multiple segments by installing distance sensors at different locations (base end and tip of links) and orienting them in different directions. This segmentation of the sensing system eliminates blind spots that would exist with a single sensor, as each sensor covers a specific directional sector.
Solution Approach 2:
The patent adds spatial dimensionality to obstacle detection by placing sensors at multiple positions and orientations in three-dimensional space. Instead of relying on a single viewpoint, the system uses multiple sensing points to cover the entire operation space, eliminating blind spots through spatial distribution.
3Measurement precision
If multiple distance sensors are installed for each link, then monitoring precision is improved, but installation cost increases
Solution Approach 1:
The patent makes each distance sensor multi-functional by orienting it to monitor multiple monitoring spaces simultaneously. A single sensor can detect obstacles in front of, behind, and to the sides of a link by strategic positioning and angling, reducing the total number of sensors needed while maintaining comprehensive coverage.
Solution Approach 2:
The patent merges the monitoring functions of multiple sensors by having them share common detection responsibilities. Sensors at the base end and tip of links are coordinated to cover overlapping or complementary zones, allowing fewer sensors to achieve what would otherwise require more individual sensors.
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
This configuration allows for accurate and efficient monitoring of obstacles in local operation spaces with reduced processing load and installation costs, minimizing blind spots and preventing error detection, while being suitable for use in moving robots.
Implementation Method 1
the projection light of each distance sensor is preferably an infrared light
Implementation Method 2
each distance sensor preferably includes: a light emitting unit configured to emit a modulated projection light
Implementation Method 3
a light receiving unit configured to receive the projection light reflected by the obstacle
Implementation Method 4
each distance sensor is preferably a sensor of the triangular distance measurement system
Data Source
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AI summary
Provided is a manipulator including: a link; a joint unit configured to rotate the link; and a distance sensor configured to detect an obstacle entering in a monitoring space that is determined so as to include at least a rotating direction side of the link, the distance sensor being installed so that a sensing direction faces a direction parallel to a surface of the link. Further, provided is a moving robot including the aforementioned manipulator.