Ultrasound based object detection for human-robot collaboration

Abstract

For safe human-robot collaboration within a defined working area, a technologically diverse and redundant sensor system is developed, which comprises ultrasound sensors and two monocular cameras. The ultrasound sensor system, as well as the developed algorithms for the sensor system are proposed, which allow a distinction between objects. Detected objects within the working area are classified in static and dynamic objects. The sensor system is able to distinguish between these object types. Due to the safe detection of dynamic objects the robot system is enabled to react with an adaption of its trajectories to avoid undesired collisions. To ensure, that the manipulator only reacts on dynamic objects, distances caused by static objects are eliminated. © 2013 Springer-Verlag Berlin Heidelberg.