Camera Arrangement Optimization for Workspace Monitoring in Human-Robot Collaboration
Identifikátory výsledku
Kód výsledku v IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F23%3A10250925" target="_blank" >RIV/61989100:27230/23:10250925 - isvavai.cz</a>
Výsledek na webu
<a href="https://www.mdpi.com/1424-8220/23/1/295" target="_blank" >https://www.mdpi.com/1424-8220/23/1/295</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.3390/s23010295" target="_blank" >10.3390/s23010295</a>
Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
Camera Arrangement Optimization for Workspace Monitoring in Human-Robot Collaboration
Popis výsledku v původním jazyce
Human-robot interaction is becoming an integral part of practice. There is a greater emphasis on safety in workplaces where a robot may bump into a worker. In practice, there are solutions that control the robot based on the potential energy in a collision or a robot re-planning the straight-line trajectory. However, a sensor system must be designed to detect obstacles across the human-robot shared workspace. So far, there is no procedure that engineers can follow in practice to deploy sensors ideally. We come up with the idea of classifying the space as an importance index, which determines what part of the workspace sensors should sense to ensure ideal obstacle sensing. Then, the ideal camera positions can be automatically found according to this classified map. Based on the experiment, the coverage of the important volume by the calculated camera position in the workspace was found to be on average 37% greater compared to a camera placed intuitively by test subjects. Using two cameras at the workplace, the calculated positions were 27% more effective than the subjects' camera positions. Furthermore, for three cameras, the calculated positions were 13% better than the subjects' camera positions, with a total coverage of more than 99% of the classified map.
Název v anglickém jazyce
Camera Arrangement Optimization for Workspace Monitoring in Human-Robot Collaboration
Popis výsledku anglicky
Human-robot interaction is becoming an integral part of practice. There is a greater emphasis on safety in workplaces where a robot may bump into a worker. In practice, there are solutions that control the robot based on the potential energy in a collision or a robot re-planning the straight-line trajectory. However, a sensor system must be designed to detect obstacles across the human-robot shared workspace. So far, there is no procedure that engineers can follow in practice to deploy sensors ideally. We come up with the idea of classifying the space as an importance index, which determines what part of the workspace sensors should sense to ensure ideal obstacle sensing. Then, the ideal camera positions can be automatically found according to this classified map. Based on the experiment, the coverage of the important volume by the calculated camera position in the workspace was found to be on average 37% greater compared to a camera placed intuitively by test subjects. Using two cameras at the workplace, the calculated positions were 27% more effective than the subjects' camera positions. Furthermore, for three cameras, the calculated positions were 13% better than the subjects' camera positions, with a total coverage of more than 99% of the classified map.
Klasifikace
Druh
J<sub>imp</sub> - Článek v periodiku v databázi Web of Science
CEP obor
—
OECD FORD obor
20204 - Robotics and automatic control
Návaznosti výsledku
Projekt
<a href="/cs/project/EF17_049%2F0008425" target="_blank" >EF17_049/0008425: Platforma pro výzkum orientovaný na Průmysl 4.0 a robotiku v ostravské aglomeraci</a><br>
Návaznosti
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Ostatní
Rok uplatnění
2023
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Údaje specifické pro druh výsledku
Název periodika
Sensors
ISSN
1424-3210
e-ISSN
1424-8220
Svazek periodika
23
Číslo periodika v rámci svazku
1
Stát vydavatele periodika
CH - Švýcarská konfederace
Počet stran výsledku
19
Strana od-do
1-19
Kód UT WoS článku
000909987000001
EID výsledku v databázi Scopus
2-s2.0-85145981166