Robot 3D Sensor Positioning for Accurate Contact Area Definition

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Solution Overview

Problem

Existing robot control systems burden users with the manual determination of depth sensor positions to define areas for avoiding contact with objects, which is inefficient and inaccurate.

Innovation Solution

A control apparatus for robots that includes a three-dimensional sensor, a position determiner, and an area definer to automatically determine measurement positions and define contact areas based on precise three-dimensional measurements, reducing user input and improving accuracy.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If the depth sensor position is manually determined by the user, then the system allows flexibility in positioning, but the user burden increases and the process becomes inefficient

Engineering Contradiction:

Improveuser burdenVSAvoidautomatic position determination

Core Design Contradiction:

Ease of operationVSExtent of automation

Solution Approach 1:

The system performs self-service by automatically determining the depth sensor measurement positions based on the scan area and object positions, eliminating the need for manual user input. The control apparatus calculates optimal measurement positions autonomously, reducing user burden while maintaining operational flexibility.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The system performs preliminary action by pre-determining the measurement positions before actual depth measurement begins. The control apparatus calculates and sets the optimal positions in advance based on the scan area geometry and object locations, so that when measurement starts, the sensor is already positioned correctly without requiring real-time user intervention.

Inventive Principle:

Principle #10Preliminary action

2Measurement precision

If multiple measurement positions are used to define the contact area, then the measurement precision improves, but the measurement time increases

Engineering Contradiction:

Improvecontact area definition accuracyVSAvoidmeasurement time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The system applies segmentation by dividing the scan area into multiple ranges and determining measurement positions for each range separately. This allows the measurement process to be organized efficiently, capturing depth data from different perspectives to accurately define contact areas while managing the overall measurement time through structured segmentation of the measurement space.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The system uses partial action by determining measurement positions selectively based on the specific geometry of the scan area and object locations. Rather than uniformly sampling all possible positions, the control apparatus calculates only the necessary measurement positions required to adequately define contact areas, reducing unnecessary measurements while maintaining precision.

Inventive Principle:

Principle #16Partial or excessive action

Data Source

PatentUS12472635B2Control device, robot, control method, and program

Publication Date: 2025.11.18 OMRON CORP

AI summary

A control apparatus for a robot including a three-dimensional sensor to measure a scan area includes a position determiner that determines, based on positions of a plurality of ranges in the scan area, a plurality of measurement positions at each of which the three-dimensional sensor performs measurement of a corresponding range of the plurality of ranges, an operation controller that controls the robot to move and cause the three-dimensional sensor to move to each of the plurality of measurement positions, and an area definer that defines an area including an object in the scan area based on a result of measurement performed by the three-dimensional sensor at each of the plurality of measurement positions.