Robot Arm Tip 3D Sensing for Interference Avoidance
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Solution Overview
Problem
Existing robot systems face challenges in accurately avoiding interference with nearby objects due to limitations in sensor placement and coordinate conversion, leading to potential collisions and unnecessary avoidance operations.
Innovation Solution
A robot system equipped with a three-dimensional sensor attached to the tip of the robot arm that acquires distance images of the surrounding area, converts object coordinates to the robot's coordinate system, and uses this data to control the robot's movements and avoid interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a 3D camera is used to acquire images of the surrounding area from outside the robot, then the robot can detect obstacles around it, but the coordinate conversion becomes complex and requires markers attached to the robot for accurate positioning
Solution Approach 1:
Instead of placing the 3D camera outside the robot to capture the surrounding area, the patent inverts the approach by attaching the 3D camera to the robot arm tip. This allows the robot to actively position the sensor at various locations within its workspace, eliminating the need for external markers and complex coordinate transformations from a fixed external camera system.
Solution Approach 2:
The robot uses its own arm to position and operate the 3D camera, allowing the system to self-service its own spatial awareness needs. The robot arm positions the camera to capture images of the surrounding area, and the robot's own control system performs the coordinate conversions, eliminating dependency on external infrastructure.
2Measurement precision
If markers are attached to the robot for recognition in camera images, then the robot can be accurately identified in the coordinate system, but the device complexity increases and the robot structure becomes more complicated
Solution Approach 1:
The patent extracts the marking function from the robot body and relocates it to the 3D camera itself. The camera contains markers that are visible in the images it captures, allowing the system to identify the camera's position and orientation without requiring any markers on the robot. This separates the measurement function from the robot structure.
Solution Approach 2:
The 3D camera acts as an intermediary that carries the markers needed for coordinate system identification. Instead of markers being part of the robot, the camera serves as a mediator that provides the necessary reference information through its own markers and imaging capabilities.
3Reliability
If the robot arm moves to position the three-dimensional sensor for acquiring distance images, then the sensor can capture the surrounding area, but the time required to acquire complete spatial information increases
Solution Approach 1:
The system performs preliminary actions by having the robot arm pre-position the 3D camera at optimal locations before actual measurement tasks begin. The robot arm can quickly reposition the camera to predetermined positions that provide the best coverage for upcoming operations, reducing the time needed during actual work.
Solution Approach 2:
The system dynamically adjusts the camera positioning based on the robot's current task and environment. The robot arm can rapidly reposition the 3D camera to different locations as needed, providing dynamic spatial awareness rather than relying on a fixed camera position, which optimizes both coverage and response time.
Data Source
AI summary
An interference avoidance device is provided with: a three-dimensional sensor that is attached to a tip portion of a robot arm and acquires a distance image of an area around a robot; a position data creating portion that converts coordinates of a nearby object in the distance image to coordinates on a robot coordinate system and creates the position data of the nearby object based on the coordinates of the nearby object on the robot coordinate system; a storage portion that stores the position data; and a control portion that controls the robot based on the robot coordinate system; and the control portion controls the robot to avoid interference of the robot with the nearby object, based on the position data stored in the storage portion.