Robot Boundary Plane Setting via Pose Data Calculation
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Solution Overview
Problem
There is a need for a technology to set a virtual boundary beyond which robots should not operate to ensure safety and prevent collisions, as existing systems lack intuitive and efficient methods for defining and implementing such boundaries in shared workspaces.
Innovation Solution
A robot system and method that involves obtaining pose data from the robot, calculating a virtual plane based on this data, and displaying the boundary plane, allowing users to set safety boundaries through teaching and physical or electrical manipulation, enabling rapid setup of multiple boundary planes to protect workers and prevent collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a virtual boundary plane is introduced to ensure robot safety in shared workspaces, then worker safety is improved, but the system complexity increases due to the need for boundary detection and control mechanisms
Solution Approach 1:
The patent introduces a boundary plane as a virtual intermediary layer between the robot and the worker. This boundary plane acts as a mediator that the robot can detect and respond to, eliminating the need for complex physical barriers or direct robot-worker interaction control. The boundary plane serves as a simple yet effective safety mechanism that the robot arm can sense and avoid crossing.
Solution Approach 2:
The patent creates a virtual copy or representation of the physical boundary in the robot's coordinate system. Instead of implementing complex physical safety systems, the invention uses a mathematical model (boundary plane equation) that replicates the safety boundary concept in the digital/virtual domain, which the robot can process and respond to more simply.
2Reliability
If multiple boundary planes are set to cover different operational zones, then the safety coverage is improved, but the time required for system setup increases
Solution Approach 1:
The patent divides the workspace into multiple segmented zones, each with its own boundary plane. This segmentation allows the system to manage complexity by breaking down the overall safety problem into smaller, independent boundary definitions. Each boundary plane can be set and managed separately, making the setup process more systematic and efficient.
Solution Approach 2:
The patent establishes boundary planes in advance during system setup or programming phases. By pre-defining the boundary planes and their equations before actual operation begins, the system eliminates the need for time-consuming real-time boundary determination. The robot can then directly use these pre-calculated boundary definitions during operation.
3Measurement precision
If the boundary plane is defined based on robot pose data and reference parts, then the precision of boundary definition is improved, but the difficulty of detecting and measuring increases
Solution Approach 1:
The patent utilizes the robot's own existing pose data and coordinate system as the basis for defining the boundary plane. Instead of requiring external measurement systems or additional sensors, the invention leverages data that the robot already possesses and generates during normal operation. The boundary plane is defined relative to the robot's own reference parts and coordinate frames, making the measurement process self-contained.
Solution Approach 2:
The patent replaces complex physical measurement and boundary detection mechanisms with mathematical calculations based on the robot's existing pose data. Instead of using physical sensors or measurement devices to detect the boundary, the invention uses computational methods to calculate the boundary plane equation from the robot's coordinate system and pose information.
Data Source
AI summary
A method of setting a boundary plane includes: obtaining pose data of a robot; calculating the boundary plane in a preset relationship with a reference part of the robot based on the obtained pose data; and displaying the calculated boundary plane.