Robot Collision Detection via Dual Vibration Signal Segmentation
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Solution Overview
Problem
Existing robots face challenges in detecting collisions with foreign objects due to variations in surface hardness, which can result in incomplete or inaccurate collision detection.
Innovation Solution
A robot equipped with a vibration sensor and a collision detection system that includes a first detection section for soft foreign matters and a second detection section for hard foreign matters, using threshold values and high-pass filtering to accurately identify collisions regardless of object hardness, and a control device that switches to a safe drive mode upon detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single force sensor is used to detect collisions, then the device complexity is reduced, but the measurement precision deteriorates because it cannot detect collisions with both soft and hard foreign objects
Solution Approach 1:
The collision detection system is segmented into two independent detection sections: a first detection section that processes raw vibration signals to detect soft foreign objects, and a second detection section that processes high-frequency filtered signals to detect hard foreign objects. Each section is optimized for specific object types, resolving the contradiction by dividing the detection function rather than using a single complex sensor.
Solution Approach 2:
The system changes the frequency parameter of the vibration signal by applying high-pass filtering in the second detection section. This parameter transformation allows the system to distinguish between soft and hard foreign objects based on their different frequency characteristics, improving measurement precision without requiring fundamentally different sensing mechanisms.
2Productivity
If the robot operates at high speed, then productivity is improved, but the reliability deteriorates due to increased risk of undetected collisions
Solution Approach 1:
The system performs preliminary collision detection by continuously monitoring vibration signals before collisions can cause damage. The dual detection sections are prepared in advance to handle different object types, enabling reliable detection even at high operation speeds where collision time is minimal.
Solution Approach 2:
The system implements feedback control by using the collision detection results to immediately adjust robot operation. When either detection section identifies a collision, the system responds by stopping or modifying robot movement, creating a closed-loop safety mechanism that maintains reliability regardless of operation speed.
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
The system effectively detects collisions with both soft and hard foreign objects, ensuring safe operation by limiting robot drive modes based on collision detection, thereby enhancing safety and reducing the risk of damage or injury.
Implementation Method 1
a vibration sensor provided to the robot main body to detect a vibration of the robot main body
Data Source
AI summary
A robot includes a robot main body having a platform and a robot arm displaced with respect to the platform, a vibration sensor provided to the robot main body to detect a vibration of the robot main body, a collision detection section configured to detect a collision between the robot main body and a physical object based on an output from the vibration sensor, wherein the collision detection section includes a first detection section configured to detect the collision based on a vibration signal output from the vibration sensor, and a second detection section configured to detect the collision based on an extracted vibration signal obtained by extracting a vibration component with a frequency not lower than a first predetermined value from the vibration signal.