Hybrid compact sensing apparatus for adaptive robotic processes
First Claim
1. A hybrid compact sensing apparatus for generating signals usable for guiding a process robot as a function of an object detected in a scene, comprising:
- a housing attachable to the process robot and having a component mounting structure;
a laser light generator mounted onto the component mounting structure of the housing and having a laser light output through the housing for controllable projection of at least two planes of laser light in a predetermined pattern towards the scene;
two optical sensors mounted onto the component mounting structure of the housing and having optical inputs through the housing for detection of respective laser lines produced by intersection of the laser light with the object, and signal outputs producing depth profile signals indicative of a geometry of the object as a function of the detected laser lines, the laser light generator and the two optical sensors forming a detection arrangement having a first detection range limited by a field of view of the optical sensors and an effective range of the laser light generator;
at least one ultrasound sensor mounted onto the component mounting structure of the housing and having an ultrasound transducer element through the housing for controllable emission of at least one ultrasound signal towards the scene within a second detection range substantially exceeding the first detection range and for reception of an echo signal returned by the object, and a signal output producing a measurement signal indicative of a distance of the object as a function of the detected echo signal; and
a control unit connected to the laser light generator, the two optical sensors and the at least one ultrasound sensor, the control unit having a processing means monitoring the distance measured by the at least one ultrasound sensor as indicated by the measurement signal, providing the measurement signal as the signals usable for guiding the process robot, and triggering on the laser light generator and triggering use of the depth profile signals produced by the optical sensors among the signals usable for guiding the process robot when the distance measured by the at least one ultrasound sensor falls within the first detection range.
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Accused Products
Abstract
A hybrid compact sensing apparatus for generating signals usable for guiding a process robot as a function of an object detected in a scene. The apparatus comprises a laser light generator, two optical sensors, one or more ultrasound sensors, and a control unit, all integrated in a same housing. The laser light generator and the optical sensors form a detection arrangement having a limited detection range compared to that of the ultrasound sensors. The control unit has a processing circuit monitoring the distance of the object measured by the ultrasound sensors, and triggering on the laser light generator and triggering use of the depth profile signals produced by the optical sensors among the signals usable for guiding the process robot when the distance measured by the ultrasound sensors falls within the limited detection range. Integration of an audio and video sensing unit to the apparatus enables remote monitoring.
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Citations
20 Claims
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1. A hybrid compact sensing apparatus for generating signals usable for guiding a process robot as a function of an object detected in a scene, comprising:
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a housing attachable to the process robot and having a component mounting structure; a laser light generator mounted onto the component mounting structure of the housing and having a laser light output through the housing for controllable projection of at least two planes of laser light in a predetermined pattern towards the scene; two optical sensors mounted onto the component mounting structure of the housing and having optical inputs through the housing for detection of respective laser lines produced by intersection of the laser light with the object, and signal outputs producing depth profile signals indicative of a geometry of the object as a function of the detected laser lines, the laser light generator and the two optical sensors forming a detection arrangement having a first detection range limited by a field of view of the optical sensors and an effective range of the laser light generator; at least one ultrasound sensor mounted onto the component mounting structure of the housing and having an ultrasound transducer element through the housing for controllable emission of at least one ultrasound signal towards the scene within a second detection range substantially exceeding the first detection range and for reception of an echo signal returned by the object, and a signal output producing a measurement signal indicative of a distance of the object as a function of the detected echo signal; and a control unit connected to the laser light generator, the two optical sensors and the at least one ultrasound sensor, the control unit having a processing means monitoring the distance measured by the at least one ultrasound sensor as indicated by the measurement signal, providing the measurement signal as the signals usable for guiding the process robot, and triggering on the laser light generator and triggering use of the depth profile signals produced by the optical sensors among the signals usable for guiding the process robot when the distance measured by the at least one ultrasound sensor falls within the first detection range. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A two-stage process for guiding a process robot as a function of an object detected in a scene, comprising the steps of:
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providing the process robot with a sensing apparatus comprising a laser light generator, two optical sensors, and at least one ultrasound sensor, all integrated in a same housing, the laser light generator and the two optical sensors forming a detection arrangement having a first detection range towards the scene limited by a field of view of the optical sensors and an effective range of the laser light generator, the at least one ultrasound sensor having a second detection range towards the scene substantially exceeding the first detection range; monitoring the scene with the at least one ultrasound sensor to detect presence and motion of the object and generating ultrasonic sensor data representative of a position of the detected object in the scene; measuring a distance of the detected object from the sensing apparatus using the ultrasonic sensor data; determining whether the measured distance falls within the first detection range; guiding the process robot as a function of the ultrasonic sensor data when the measured distance exceeds the first detection range; triggering on the detection arrangement formed of the laser light generator and the two optical sensors and generating laser range imaging data through the detection arrangement when the measured distance falls within the first detection range; and guiding the process robot as a function of the laser range imaging data when the measured distance is within the first detection range. - View Dependent Claims (20)
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Specification