Capacitive protection system for robot dedicated to the safety of humans

Abstract

This protection system is dedicated to the safety of people working on automated sites of production. The system is implemented on an articulated mechanical system, (robot, press...). Capacitive sensors exploit the properties of an electric field to estimate the distance between a detected target and themselves. By the way, it makes it possible to discriminate the presence of human beings or objects in their environment and to give information about their distance. Moreover, the system takes into account the capacitive variations which are induced on itself due to its variable geometry (interactions between the various elements of the articulated mechanical system and the relative approach of the ground). The sensitive elements of detection are of a low cost because they are made with a conducting paint put on the dangerous parts of the machine. Their weight and their space hindrance are negligible, this is essential for an embarked tool of a robot.