Robot Contact Determination Using Motion and Electrical Change
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Solution Overview
Problem
Ensuring safety in cooperation between industrial robots and workers has become a critical issue due to the relaxation of the 80 W regulation, as existing safety measures may not adequately address the risks of contact between robots and workers, particularly those using robots with output exceeding or below 80 W.
Innovation Solution
A contact determination device that acquires positional and postural information of workers, computes movement states, and detects electrical changes to determine contact conditions between workers and robots, enabling the control of robot movements to prevent collisions and ensure safety without the need for physical safety fences.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If industrial robots with output exceeding 80 W are used without physical safety fences, then productivity is improved, but safety deteriorates due to increased risk of contact between robots and workers
Solution Approach 1:
The patent replaces the mechanical safety fence system with an electronic detection and control system. The contact determination device uses electrical change detection (capacitive or resistive sensors) and movement state computation to substitute physical barriers, enabling safe collaboration without sacrificing productivity.
Solution Approach 2:
The patent introduces an intermediary control system between the robot and worker. The contact determination device acts as a mediator that continuously monitors the environment, computes movement states, and triggers appropriate robot responses, thereby mediating the interaction to ensure safety while maintaining close proximity work.
2Reliability
If physical safety fences are installed to isolate workers from robots, then safety is improved, but productivity deteriorates due to reduced cooperation efficiency
Solution Approach 1:
The patent replaces the mechanical safety fence system with an electronic detection and control system. The contact determination device uses electrical change detection (capacitive or resistive sensors) and movement state computation to substitute physical barriers, enabling safe collaboration without sacrificing productivity.
3Reliability
If contact detection systems are implemented, then safety is improved, but device complexity increases due to additional sensors and computation
Solution Approach 1:
The patent makes the robot control system multi-functional by integrating contact determination capabilities into the existing control architecture. The same control device that manages robot motion also performs contact detection, movement state computation, and safety decisions, thereby avoiding additional dedicated hardware and reducing overall system complexity.
Solution Approach 2:
The patent merges the contact detection function with the robot control system. By combining sensors, movement computation, and control logic into a single integrated device, the patent reduces the number of separate components and simplifies the system architecture while maintaining comprehensive safety monitoring.
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 device effectively improves safety by accurately determining contact conditions and controlling robot movements to prevent accidents, enhancing cooperation between robots and workers while maintaining productivity.
Implementation Method 1
a wearable device worn by the target person; a measurement information acquiring unit that acquires measurement information indicating a measurement result of the wearable device
Implementation Method 2
a measurement information acquiring unit that acquires measurement information indicating a measurement result of the wearable device
Implementation Method 3
a change acquiring unit that acquires information regarding an electrical change
Data Source
Figure 1
Figure 2A~2B
Figure 3
AI summary
The present invention provides a contact determination device, control device, contact determination system, contact determination method, and contact determination program that can contribute to improving safety by preventing accidents caused by contact between an object to be controlled and a target person when an object to be controlled such as an industrial robot and a target person such as a worker perform work in cooperation. This contact determination device (1) acquires position information and/or posture information for a target person. Further, the state of movement of a part to be calculated in the body of the target person is calculated on the basis of acquired movement information and a body model relating to the shape of the body of the target person, said body model having been recorded in advance. Meanwhile, an electrical change is detected. Then, the contact determination device (1) determines the state of contact between the target person and the object to be controlled on the basis of the detected electrical change and the state of movement of the part to be calculated in the body of the target person (S302-308).