Robot Arm Capacitance Sensing to Prevent False Collision Detection
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Solution Overview
Problem
Industrial robots face challenges in detecting approaching objects between their arms, leading to increased risk of collisions due to limited proximity sensing capabilities, resulting in false detection and reduced safety during operations.
Innovation Solution
The implementation of multiple capacitance-type proximity sensors with distinct detection circuits and thresholds on each arm of the robot, allowing for enhanced detection range and reduced false detection by synchronizing detection timings and adjusting thresholds based on arm operations and positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If detection electrodes are provided in multiple arms but share a single detection circuit, then the detection coverage is improved, but false detection occurs due to changing distances between electrodes
Solution Approach 1:
The patent divides the single detection circuit into multiple independent detection circuits, with each circuit dedicated to a specific arm. This segmentation allows each detection circuit to independently monitor its assigned arm without interference from other arms, eliminating false detection caused by changing inter-electrode distances while maintaining comprehensive detection coverage across all arms.
2Device complexity
If a single detection circuit is used for all arms, then the device complexity is reduced, but false detection occurs due to electrode distance changes during robot operation
Solution Approach 1:
The detection system is segmented into multiple independent detection circuits, each assigned to a specific arm. This increases device complexity slightly but dramatically improves reliability by eliminating cross-interference between arms during operation, ensuring accurate collision detection regardless of robot configuration changes.
3Area of stationary object
If proximity sensors are installed on all arms, then the detectable range for object approach is expanded, but the risk of collision increases due to potential false detection
Solution Approach 1:
By segmenting the detection system into arm-specific detection circuits, the patent expands the detectable range across all arms while preventing false detection through independent circuit operation. Each circuit monitors only its assigned arm, eliminating false alarms that would otherwise increase collision risk, thus safely expanding overall detection coverage.
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 significantly reduces the risk of collisions by expanding the detectable range, minimizing false detection, and enabling safer collaborative work with humans, while maintaining efficient robot operation.
Implementation Method 1
a first proximity sensor including a first electrode section, capacitance of which changes according to the contact or the approach of the object
Data Source
AI summary
A robot includes a robot body including a base, a first movable section provided turnably with respect to the base, and a second movable section provided turnably with respect to the first movable section, a first proximity sensor for detecting contact with or approach of an object to the first movable section, and a second proximity sensor for detecting contact with or approach of the object to the second movable section. The first proximity sensor includes a first electrode section having a capacitance that changes according to the contact or approach of the object, and a first circuit section for detecting the capacitance of the first electrode section. The second proximity sensor includes a second electrode section having a capacitance that changes according to the contact or approach of the object, and a second circuit section for detecting the capacitance of the second electrode section.