SYSTEM FOR SENSING STATE AND POSITION OF ROBOT

• US 20100076639A1
• Filed: 03/06/2009
• Published: 03/25/2010
• Est. Priority Date: 09/22/2008
• Status: Active Grant

• Current Assignee: Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. (Hon Hai Precision Industry Co., Ltd.), Hon Hai Precision Industry Co., Ltd.
• Original Assignee: Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. (Hon Hai Precision Industry Co., Ltd.), Hon Hai Precision Industry Co., Ltd.
• Inventors: Shu, Wen
• Granted Patent: US 8,209,055 B2
• Time in Patent Office: Days
• US Class Current: 701/23
• CPC Class Codes: G01C 21/183 Compensation of inertial measurements, e.g. for temperature effects
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165

Abstract

An exemplary system for sensing the state and position of a robot is provided. The system measures the acceleration and angular velocity of the robot and calculates a velocity, and a displacement of the robot. The state of the robot according to the acceleration and the velocity vector, of the robot, is determined. The system includes an alarm that activates according to the state of the robot. The system also compensates for any inaccuracy of the measured displacements.

Claims

1. A system for sensing the position of a robot, the system comprising:

a sensing part configured for measuring an acceleration and an angular velocity of the robot;

a data processor configured for calculating a displacement of the robot according to the acceleration and the angular velocity of the robot;

a plurality of positioning parts set along a predetermined path of the robot at equal intervals and configured for providing location information of the positioning parts; and

a compensating part configured for compensating the displacement calculated by the data processor according to the location information of the positioning parts.

2. The system as claimed in claim 1, further comprising a signal receiving part configured for filtering out high frequency distortion of the signal measured by the sensing part.

3. The system as claimed in the claim 2, wherein the signal receiving part comprising a first low-pass filter for filtering out distortion of the acceleration having a frequency higher than 12.5 hertz (Hz), and a second low-pass filter for filtering out the distortion of the angular velocity having a frequency higher than 50 Hz.

4. The system as claimed in claim 1, wherein the sensing part comprising an acceleration sensor for measuring the acceleration of the robot and a gyro sensor for measuring the angular velocity of the robot.

5. The system as claimed in claim 4, wherein the acceleration sensor comprising a first acceleration sensor for measuring the acceleration along a first axis, a second acceleration sensor for measuring the acceleration along a second axis, and a third acceleration sensor for measuring the acceleration along a third axis, the first axis, the second axis and the third axis being orthogonal to each other.

6. The system as claimed in the claim 4, wherein the gyro sensor comprising a first gyro sensor for measuring the angular velocity along a first axis, a second gyro sensor for measuring the angular velocity along a second axis, and a third gyro sensor for measuring the angular velocity along a third axis, the first axis, the second axis, and the third axis being orthogonal to each other.

7. The system as claimed in the claim 1, wherein the positioning parts comprising a main positioning part set at the starting point of the robot and a plurality of auxiliary positioning parts set along the predetermined path of the robot at equal intervals.

8. The system as claimed in the claim 7, wherein each of the auxiliary positioning part has a digital label for containing the information corresponding to its location.

9. The system as claimed in the claim 8, wherein the compensating part comprising a reader for receiving the information contained on the digital label when the robot is passing by the auxiliary positioning parts.

10. A system for sensing the state of a robot, the system comprising:

a sensing part for measuring an acceleration and an angular velocity of the robot;

a data processor for calculating a velocity of the robot according to the acceleration and the angular velocity of the robot;

a state recognizing part for recognizing the states of the robot from the velocity and the acceleration of the robot, and generating an instruction corresponding to the state of the robot; and

an alarming part for activating an alarm according to the instruction transferred from the state recognizing part.

11. The system as claimed in the claim 10, further comprising a signal receiving part for filtering out high frequency distortion of the signals measured by the sensing part.

12. The system as claimed in the claim 11, wherein the signal receiving part comprising a first low-pass filter for filtering out distortion of the acceleration having a frequency more than 12.5 hertz (Hz), and a second low-pass filter for filtering out distortion of the angular velocity having a frequency more than 50 Hz.

13. The system as claimed in the claim 10, wherein the sensing part comprising an acceleration sensor for measuring the acceleration of the robot and a gyro sensor for measuring the angular velocity of the robot.

14. The system as claimed in the claim 13, wherein the acceleration sensor comprising a first acceleration sensor for measuring the acceleration along a first axis, a second acceleration sensor for measuring the acceleration along a second axis, and a third acceleration sensor for measuring the acceleration along a third axis, the first axis, the second axis and the third axis being orthogonal to each other.

15. The system as claimed in the claim 13, wherein the gyro sensor comprising a first gyro sensor for measuring the angular velocity along a first axis, a second gyro sensor for measuring the angular velocity along a second axis, and a third gyro sensor for measuring the angular velocity along a third axis, the first axis, the second axis, and the third axis being orthogonal to each other.

16. The system as claimed in the claim 10, wherein the state recognizing part preset a threshold time, when the data representing the velocity with different direction has a lasting time less than the threshold time continuously appears, the state recognizing part regards that a jolted period has occurred.

17. The system as claimed in the claim 16, wherein the state recognizing part preset a threshold frequency, when the frequency of the jolted period more than the threshold frequency, the state recognizing part regards the robot is jolted.

18. The system as claimed in the claim 10, wherein the state recognizing part preset a first direction angle range with respect to a first axis, a second direction angle range with respect to a second axis, and a third direction angle range with respect to a third axis, the first axis, the second axis and the third axis being orthogonal to each other, if the direction angle of the acceleration of the robot doesn'"'"'t fall into the angle range collaborative defined by the first direction angle range, the second direction angle range, and the third direction angle range, the state recognizing part regards the robot is tilted.