Master Input Device Multi-Sensor Redundancy for Slave Manipulator Control
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Solution Overview
Problem
Existing master-slave manipulator systems face challenges in reliably detecting the position and orientation of the master input device, as single sensor systems can fail, leading to incomplete detection and potential system failure.
Innovation Solution
A master input device equipped with detection units from multiple systems, including encoders and image sensors, to individually detect different physical quantities, allowing for robust calculation and transmission of command values for the slave manipulator's position and orientation, ensuring continued operation even if one sensor fails.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single sensor system is used to detect the position and orientation of the operating unit, then the device complexity is reduced, but the reliability deteriorates due to sensor failure risk
Solution Approach 1:
The patent applies beforehand cushioning by implementing a standby sensor system that activates when the primary sensor fails. The control unit monitors sensor status and automatically switches to alternative sensors (acceleration sensor, image sensor) when detection accuracy deteriorates, ensuring continuous reliable operation without manual intervention.
Solution Approach 2:
The patent changes the detection parameters by switching between different sensor types with different measurement principles. When the primary sensor fails, the system transitions to using acceleration sensors for position detection and image sensors for orientation detection, changing the physical parameters being measured to maintain overall system reliability.
2Reliability
If multiple sensor systems are implemented for redundancy, then the reliability is improved, but the device complexity increases
Solution Approach 1:
The patent applies universality by designing a control unit that performs multiple functions: normal control operations and failure detection/switching operations. The same control unit manages both the primary sensor system and the standby sensor systems, eliminating the need for separate control circuits and reducing overall system complexity despite having multiple sensors.
Solution Approach 2:
The system applies self-service through automatic failure detection and switching mechanisms. The control unit continuously monitors sensor performance and automatically switches between sensor systems without requiring manual intervention, making the complexity management self-contained within the control unit rather than requiring external complex control systems.
3Reliability
If standby sensors are activated upon failure, then the reliability is maintained, but the response time deteriorates due to switching delay
Solution Approach 1:
The patent applies preliminary action by pre-positioning multiple sensor systems and pre-programming the switching logic in the control unit. All necessary components for failover are prepared in advance, and the switching criteria are predetermined, enabling immediate activation of standby sensors when failure occurs without requiring complex real-time decision-making or manual intervention.
Data Source
AI summary
A master input device operates a slave manipulator which includes joints corresponding to a plurality of degrees of freedom. The device includes an operating unit and detection units of two or more systems. The operating unit is capable of being changed in position and orientation by an operator's operation. The operating unit is provided command values of a position and orientation of the slave manipulator as the position and orientation thereof change. The detection units individually detect different physical quantities related to the operating unit in order to detect the position and orientation of the operating unit.