Robot Sensor Configuration for Interference-Free Object Detection
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Solution Overview
Problem
Non-contact sensors on robots can interfere with each other, leading to false detections.
Innovation Solution
A robot control apparatus with a sensor position detector, interference detector, and sensor configurator to determine and eliminate interference among non-contact sensors by adjusting their positions, detection ranges, or directions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple non-contact sensors are installed on the robot to detect nearby objects and humans, then the detection coverage and safety monitoring capability are improved, but the sensors may interfere with each other when the robot assumes certain postures, causing false detections
Solution Approach 1:
The control apparatus performs preliminary determination of sensor positions and interference detection before actual object detection. By calculating the detection ranges of multiple sensors based on robot posture and determining whether they overlap in advance, the system can identify potential interference conditions before they cause false detections, allowing preventive measures to be taken
Solution Approach 2:
The control apparatus continuously monitors the spatial relationships between multiple non-contact sensors and their detection ranges. When interference is detected or predicted, the system provides feedback to adjust sensor configurations or robot postures, creating a closed-loop control system that maintains detection accuracy while using multiple sensors
2Adaptability or versatility
If the robot uses various postures to perform tasks, then the operational flexibility and task capability are improved, but the non-contact sensors may become situated to interfere with each other during operation
Solution Approach 1:
The control apparatus dynamically calculates the positions and detection ranges of non-contact sensors based on the robot's current posture. As the robot changes posture during task execution, the system continuously updates sensor configurations and checks for interference conditions, allowing the robot to maintain operational flexibility while preventing sensor interference through real-time adaptive control
3Reliability
If the detection range of sensors is increased to improve detection capability, then the sensor can detect objects at greater distances, but the likelihood of interference with other sensors increases
Solution Approach 1:
The control apparatus adjusts sensor parameters such as detection range and detection direction based on the robot's posture and the spatial distribution of other sensors. When interference is detected, the system modifies these parameters to eliminate overlap between detection ranges while maintaining optimal detection capability for the current task, achieving a balance between detection range and interference prevention
Data Source
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AI summary
A robot control apparatus (3) of a robot (1) equipped with a plurality of non-contact sensors (2, 2b, 2e), includes a sensor position detector (22) that determines a position of each of the non-contact sensors (2, 2b, 2e) and an interference detector (23) that examines the determined positions of the non-contact sensor (2, 2b, 2e) to determines two of the non-contact sensors (2, 2b, 2e), a target sensor (2, 2e) and a counterpart sensor (2, 2b), cause interference to each other in response to a determination that the counterpart sensor (2, 2b) is situated in a present detection range (37) of the target sensor (2, 2e).