Robot Tool Head Posture Adjustment Using Laser Plane Normals
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Solution Overview
Problem
Existing methods for determining the posture of care robots, such as those used in personal care robots, are costly, lack precision, have poor real-time performance, and are inaccurate, especially when interacting with human bodies.
Innovation Solution
A method using laser distance sensors to irradiate non-collinear laser points, calculate comprehensive plane normal vectors, and adjust tool head posture based on preset expressions to achieve accurate and real-time posture determination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If machine vision solution is used to determine robot posture, then posture determination capability is provided, but cost increases and real-time performance deteriorates
Solution Approach 1:
The patent replaces the machine vision system (optical/mechanical system) with a laser distance sensor system that uses time-of-flight measurement. Instead of capturing images and processing coordinates through vision algorithms, the system directly measures distances to multiple points on the target object and calculates posture parameters, significantly reducing processing time while maintaining accuracy
Solution Approach 2:
The patent extracts only the essential information needed for posture determination (distance measurements to key points) rather than capturing and processing complete visual scenes. By selecting specific measurement points on the target object and measuring only distances to these points, the system achieves efficient real-time posture determination without the overhead of full image processing
2Measurement precision
If contacting multi-axis force sensor solution is used, then posture determination is provided, but cost increases and adaptability deteriorates
Solution Approach 1:
The patent creates a universal posture determination system using laser distance sensors that can operate in multiple scenarios - both contactless measurement and contact-based measurement. The system adapts to different application contexts (personal care robots, industrial robots, etc.) without requiring specialized sensors, providing both positional and orientational information through a single flexible platform
Solution Approach 2:
The patent replaces complex multi-axis force sensors with simpler laser distance sensors. Instead of measuring forces and moments at contact points, the system uses optical time-of-flight measurement to directly obtain distance information, which is then processed to determine posture parameters, reducing system complexity and cost while maintaining accuracy
3Loss of time
If radar solution is used for posture determination, then measurement capability is provided, but measurement precision deteriorates and harmful factors are introduced
Solution Approach 1:
The patent substitutes radar-based detection with laser-based time-of-flight measurement. Laser distance sensors provide higher precision distance measurements compared to radar, while maintaining fast response times. The optical measurement approach eliminates radar wave emission concerns and provides superior accuracy for posture determination applications
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 method provides low-cost, precise, and real-time posture adjustment for care robots, enabling effective interaction with human bodies, whether in contact or at a distance.
Implementation Method 1
acquiring a distance measured by each of the laser distance sensors
Implementation Method 2
controlling laser points of laser distance sensors to irradiate onto a site to be checked
Data Source
AI summary
A tool head posture adjustment method and apparatus, and a readable storage medium are disclosed. Distances to laser points are measured by laser distance sensors, and the laser points can construct at least one plane, thereby determining each plane corresponding to a site to be checked; and a comprehensive normal vector of each plane is calculated, and posture parameters of a tool head of a robot are calculated by using a posture expression, thereby adjusting the tool head posture.