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US 2021/0323155 A1Published application
Detection system and detection method for sensors of robot
AssigneeTechman Robot Inc.
InventorsChun-Wen Lai, I-Bing Su
Life of this patent
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Abstract
A detection system and detection method for the sensors of a robot. A detection system installs three sensors at the motor side and power output terminal of the robot. A detection unit detects the normal or abnormal state of three sensors to index the abnormal sensor for maintenance, and two normal sensors are selected for keeping the robot safety operation without stop.
Claims20
A detection system of robotic sensors comprising:
- a first set of sensors disposed at a motor side of a motor of a robot, and configured to detect a rotation state of the motor, and generate a first detection signal;
- a second set of sensors disposed at a power output terminal of the motor, and configured to detect a rotation state of the power output terminal, and generate a second detection signal;
- a third set of sensors optionally disposed at the motor side or the power output terminal, and configured to detect the rotation state of the motor or the power output terminal, and generate a third detection signal;
- and
- a control system comprising a detection unit configured to receive the first detection signal, the second detection signal and the third detection signal, detect whether the first set of sensors, the second set of sensors and the third set of sensors are in a normal operation state or in an abnormal operation state, and select two sets of sensors in the normal operation state for use, a remaining set of sensors serving as backup sensors for use upon detecting one of the two sets of sensors in use being in the abnormal operation state.
2 more elements
A detection method of robotic sensors comprising:
- initializing a detection operation;
- reading three sets of detection signals generated by a first set of sensors and a third set of sensors at a motor side of a motor, and a second set of sensors at a power output terminal;
- converting the three sets of detection signals into a first angle, a second angle and a third angle of the motor in rotation;
- arranging the first angle, the second angle and the third angle in a descending order, with large angle a>medium angle b>small angle c;
- computing an angle difference D1=a−b and an angle difference D2=b−c;
- determining that a difference between the angle differences is less than a first predetermined standard deviation C1, that is, (D1−D2) <C1;
- and
- determining that the first set of sensors, the second set of sensors and the third set of sensors are all normal.
5 more elements
A detection method of robotic sensors comprising:
- reading detection signals of three sets of sensors disposed at a motor side of a motor and a power output terminal;
- when it is detected that one of the three sets of sensors is abnormal in a detection test:
- indicating that a set of sensors is abnormal and notifying of maintenance;
- and
- when the abnormal set of sensors is in use, replacing the abnormal set of sensors with a backup set of sensors, so as to continue to operate a robot normally.
2 more elements
Dependencies are inferred from the claim text.