Robot Arm Teaching Control Using Operator Gaze Limitation
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Solution Overview
Problem
Current robot control methods fail to ensure operator safety during the teaching of robot arm motion settings, as operators often need to repeatedly input precise coordinates and motions while looking at the operation panel, leading to potential contact risks due to inaccuracies in motion execution.
Innovation Solution
A robot system equipped with a camera on the operation panel that determines whether the operator is looking at the surface and limits the robot arm's motion if the operator is focused on the panel, preventing unintended movements and enhancing safety by restricting motion when the operator is engaged with the panel.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the operator looks at the operation panel to input precise coordinates and motions, then the operation precision is improved, but the safety deteriorates due to potential contact risks from inaccurate motion execution
Solution Approach 1:
The system uses a camera to continuously monitor the operator's line of sight and provides feedback to the control unit. When the operator is detected to be looking at the operation panel, the system automatically limits robot arm motion, creating a safety feedback loop that resolves the contradiction between operational precision and safety
Solution Approach 2:
The system performs preliminary detection of the operator's gaze direction before allowing motion execution. By detecting in advance whether the operator is looking at the panel, the system preemptively prevents unsafe motion execution, addressing the safety concern before contact can occur
2Object-affected harmful factors
If the robot arm motion is limited when the operator is looking at the panel, then the safety is improved, but the productivity deteriorates due to restricted motion during teaching procedures
Solution Approach 1:
The motion limitation is not static but dynamically adjusted based on real-time detection of operator gaze. The system transitions between limited and unlimited motion states depending on whether the operator is looking at the panel, allowing full productivity when safe and restriction only when necessary
Solution Approach 2:
The operator themselves controls the motion limitation state through their natural gaze behavior. When the operator looks at the panel for precise input, motion is automatically limited; when they look at the robot arm for monitoring, motion is permitted, making the safety system self-regulating without external intervention
Data Source
AI summary
This robot includes a robot arm, a controller which controls the robot arm, an operation panel which sends a control signal to the controller, a camera which is provided in the operation panel and which captures images of an operator who operates the operation panel, a determination means which determines whether or not the operator is looking at a surface of the operation panel on which an operation portion is provided on the basis of the images captured by the camera, and a limitation means which limits motion of the robot arm when it is determined that the operator is looking at the surface or when it is determined that the operator has continuously been looking at the surface.