Robot Collision Detection via Command-Behavior Comparison
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Solution Overview
Problem
Existing robot collision detection technologies face challenges in accurately and quickly detecting collisions, especially in complex environments, due to limitations in sensor coverage and computational delays, and often require additional mechanical parts that compromise robot performance and increase costs.
Innovation Solution
A robot collision detection device and method that includes a buffer for storing driving commands, a sensor to measure acceleration and angular velocity, and a controller to monitor and compare the actual robot behavior with the intended command using lookup tables to determine collisions, generating a braking signal when a collision is detected.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If non-contact sensors (distance sensors or image sensors) are used to predict and avoid collisions in advance, then fundamental safety is guaranteed, but collisions in sensor blind areas cannot be predicted and the technology is difficult to apply to fast moving manipulators due to image processing uncertainty and time delay
Solution Approach 1:
The patent replaces non-contact sensors (optical/image sensors) with contact-based torque sensors that directly measure physical interactions. This substitution eliminates image processing delays and blind area limitations, using mechanical torque measurement instead of optical detection to achieve faster, more reliable collision detection.
Solution Approach 2:
The patent introduces torque sensors as an intermediary measurement device between the manipulator and its environment. These sensors act as mediators that directly detect collision forces through torque measurement, providing a reliable signal that bridges the gap between physical interaction and control system response without the delays inherent in image processing.
2Loss of time
If torque sensors, force sensors, or tactile sensors are used to detect collisions in a short time, then collision detection speed is improved, but the sensors are expensive and complex dynamic model computation is required
Solution Approach 1:
The patent extracts and removes the complex dynamic model computation requirement from the collision detection system. By using simplified torque comparison against pre-determined thresholds stored in lookup tables, the system achieves fast collision detection without needing to solve complex dynamic equations in real-time, thereby reducing computational complexity while maintaining detection speed.
Solution Approach 2:
The patent performs preliminary computation by pre-calculating collision thresholds and storing them in lookup tables before operation. This allows the real-time collision detection to simply compare sensor readings against pre-computed values, eliminating the need for complex dynamic model computation during actual operation and enabling fast response.
3Reliability
If additional mechanical parts are added to mechanically absorb collision force, then human safety is ensured even in abnormal operation, but the robot size increases and working performance such as precision and control performance is degraded
Solution Approach 1:
The patent replaces mechanical collision absorption mechanisms (physical buffers, springs, or protective structures) with an electronic control-based collision detection and response system. This substitution uses torque sensors and control algorithms to detect and respond to collisions, eliminating the need for additional mechanical parts that would compromise precision while maintaining safety through rapid detection and control intervention.
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
Enables quick and accurate collision detection, preventing further damage by comparing the actual robot behavior with the intended command, maintaining existing robot performance without the need for additional mechanical parts and reducing costs.
Implementation Method 1
a sensor configured to detect a behavior of the robot
Data Source
AI summary
A robot collision detection device and a method thereof are provided. The robot collision detection device includes a buffer that periodically stores a driving command for allowing a robot to move to a destination and a sensor that detects a behavior of the robot. A controller monitors the driving command and a behavior of the robot corresponding to the driving command, and determines whether there is a robot collision based on the driving command and the behavior of the robot.