Robot Arm Sensor Layout for Occlusion-Resistant Object Detection
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Solution Overview
Problem
Existing human-robot collaboration (HRC) systems face challenges in providing efficient and safe operation of robots in close proximity to humans due to issues with object detecting sensor coverage and calibration, especially when sensors mounted on movable linkages of robots, which can be easily occluded and require complex setups.
Innovation Solution
The robot system incorporates object detecting sensors mounted on movable parts such as the elbow and wrist, with non-overlapping fields of view to ensure comprehensive coverage and efficient detection, using processors to monitor and adjust motion based on detected objects, and includes joint monitoring elements to prevent collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If object detecting sensors are mounted on movable linkages of robots, then the robot can detect intruding objects in close proximity, but the sensors are easily occluded and require complex setups
Solution Approach 1:
The robot system divides the detection task into multiple segments by placing sensors at different locations (elbow, wrist, and base). Each sensor covers a specific zone, and the processor integrates information from all segments to achieve comprehensive detection without requiring complex calibration for each individual sensor position.
Solution Approach 2:
The patent transitions from a single fixed detection point to multiple detection points distributed across different spatial dimensions (elbow, wrist, base). This multi-dimensional arrangement ensures that at least one sensor maintains an unobstructed view of intruding objects regardless of robot configuration, reducing occlusion issues.
2Area of stationary object
If multiple object detecting sensors are mounted on the robot, then comprehensive coverage is achieved, but calibration becomes complex
Solution Approach 1:
The patent combines the detection functions of multiple sensors (elbow sensor, wrist sensor, and base sensor) into a unified detection system. The processor integrates sensor data from all locations and uses a single unified calibration process that accounts for the relative positions of all sensors, simplifying the overall calibration complexity while maintaining comprehensive coverage.
3Reliability
If sensors are placed to cover all directions, then no occlusion occurs, but the number of sensors and complexity increases
Solution Approach 1:
The patent assigns different detection responsibilities to sensors based on their local positions. The elbow sensor covers the elbow zone, the wrist sensor covers the wrist zone, and the base sensor covers the base zone. This local quality approach ensures that each sensor is optimized for its specific detection zone, achieving comprehensive coverage with a minimal number of sensors.
Data Source
AI summary
A robot system is provided that includes movable parts, one or more object detecting sensors, and one or more processors, wherein the one or more object detecting sensors is dispose at or near the elbow, the wrist, or the position between the elbow and the wrist of the robot. Multiple embodiments are introduced for the implementation of the object detection of the robot system.