WO2020012440A1 - Sensitive system for increased proximity detection - Google Patents
Sensitive system for increased proximity detection Download PDFInfo
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- WO2020012440A1 WO2020012440A1 PCT/IB2019/055975 IB2019055975W WO2020012440A1 WO 2020012440 A1 WO2020012440 A1 WO 2020012440A1 IB 2019055975 W IB2019055975 W IB 2019055975W WO 2020012440 A1 WO2020012440 A1 WO 2020012440A1
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- WO
- WIPO (PCT)
- Prior art keywords
- electric field
- responding
- sensitive element
- control unit
- charge
- Prior art date
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
- G01B7/023—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring distance between sensor and object
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
- A61B5/073—Intestinal transmitters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
- A61B5/6847—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive mounted on an invasive device
- A61B5/6861—Capsules, e.g. for swallowing or implanting
Abstract
A system (100) for detecting the distance between two elements (110,120), said system (100) comprising at least one sensitive element (110) comprising a first conductive electrode (111) and a second conductive electrode (112), between said electrodes (111,112) being generated a first electric field E1 having a first frequency f1 and a first phase φ1 when the electrodes (111,112) have a potential difference ΔV ≠ 0 between them, said first electric field E1 generating on the second conductive electrode (112) a density of charge q1. The system (100) also comprises a control unit, configured to measure a variation of the density of charge q1, and a responding element (120) adapted to generate a second electric field E2 having a second frequency f2 and a second phase φ2· In particular, the system (100) is configured in such a way that when the second electric field E2 interacts with the first electric field E1 the control unit measures a variation of the density of charge q1 proportional to a distance d between the sensitive element (110) and the responding element (120).
Description
TITLE
Sensitive system for increased proximity detection
DESCRIPTION
Field of the invention
The present invention relates to the field of proximity detection systems .
In particular, the invention relates to a system for detecting the distance between two bodies within a work area in which robotic machines and/or human operators move. Description of the prior art
In recent years, the operating workspace of the autonomous or semi-autonomous robotic machines has gradually stopped being separated and independent from that of the operators, giving life to what is defined as a "collaborative" work space.
In this perspective, the sensors implemented on the robots become essential to provide them with information on the work environment, for example relating to the presence of objects near the robotic machine itself, and to guarantee the safety of the operators.
The most used sensors in this context are:
- optical sensors (eg 2D and 3D cameras) used as proximity sensors and connected to the robotic machine or positioned in the work environment;
ultrasonic sensors used as proximity sensors, measuring the flight time of the mechanical wave in response to the presence of an object;
resistive sensors or capacitive sensors used as contact sensors or, for capacitive ones, also as a pre-contact sensing feature.
The category of capacitive sensors is cheaper than optical sensors, but, having a limited sensitivity and accuracy, it has always been used to evaluate only a proximity of a few centimetres, or directly the contact. Ultrasonic sensors offer limited accuracy and the quality of sensor response depends on environmental conditions, such as optical sensors .
However, recently some methods have been proposed to increase the sensitivity of capacitive sensors, so that they can be used as proximity sensors instead of optical or ultrasonic sensors.
In "A flexible dual -mode proximity sensor based on cooperating sensing for robot skin applications" published on 21/08/2017 in the name of Ying Huang et al. a capacitive proximity sensor is provided which allows to obtain a sensitivity up to 60 cm, i.e. consistently greater than the capacitive sensors of the prior art.
However, to obtain this result, this sensor requires, as a single sensitive unit, very large dimensions, l . e .
32x26cm, being difficult to implement on reduced size, curved or non-regular surfaces, such as those, for example, of a robotic frame.
Moreover, this sensitivity is obtainable by interacting with a metallic object, having very high conductivity, but it becomes considerably lower in the intensity of the response in the recognition of an obstacle having lower conductivity, such as that of a human body. For a use within a "collaborative" work space, in which robotic machines and human operators must interact, it would therefore be necessary to equip each operator with a metal object, integral with the body to be detected.
US2017031050 describes a distance measurement system which makes use of two circuits comprising respective coils. The distance is detected by making use of measuring the interaction of the magnetic fields generated by the two coils.
However, this solution has a reduced effectiveness, since it allows detecting distances not exceeding 30 mm.
Summary of the invention
It is therefore a feature of the present invention to provide a system for detecting the distance between two elements that has greater sensitivity than the sensors of the known art .
It is also a feature of the present invention to provide such a system that has sufficiently small dimensions and a
modular geometry to be able to integrate it on reduced size, curved or non-regular surfaces.
These and other objects are achieved by a system for detecting the distance between two elements, said system comprising :
— at least one sensitive element comprising a first conductive electrode and a second conductive electrode, between said electrodes being generated a first electric field E1 having a first frequency /x and a first phase f1 when said electrodes have a potential difference NV ¹ 0 between them, said first electric field E1 generating on said second conductive electrode a density of charge qq;
— a control unit configured to measure a variation of said density of charge qq;
whose main feature is that it also comprises a responding element adapted to generate a second electric field E2 having a second frequency f2 and a second phase f2, said system being configured in such a way that when said second electric field E2 interacts with said first electric field Elr said control unit measure a variation of said density of charge qq proportional to a distance d between said sensitive element and said responding element .
Owing to the electric field generated by the responding element, the sensitive element may have a much higher dimension/sensitivity ratio than the sensors of the prior art .
Therefore, it is possible to guarantee a sensitivity comparable to that described in the article by Ying Huang et al . , while maintaining at the same time sufficiently small dimensions to be able to install a plurality of such sensitive elements, with variable dimensions and geometry, on a curved surface, such as that of a robotic device, without incurring any type of complication or structural modification of the robotic machine.
Other features of the system for detecting the distance between two elements, according to the present invention, are described in the claims from 2 to 15.
According to another aspect of the present invention, an apparatus for locating a medical device in the body of a patient comprising the system for detecting the distance between two elements is described in the claims from 16 to 18.
Brief description of the drawings
Further characteristic and/or advantages of the present invention are more bright with the following description of an exemplary embodiment thereof, exemplifying but not limitative, with reference to the attached drawings in which:
— Fig. 1 shows a diagrammatical view of the system for detecting the distance between the two active elements, according to the present invention;
— Fig. 2 shows a possible exemplary embodiment of the sensitive element having the two coplanar electrodes arranged along concentric polygonal spirals ;
— Fig. 3 shows a possible configuration of the system according to the present invention, wherein a plurality of sensitive elements is provided;
— Fig. 4 shows a possible implementation of the sensitive element on a robotic machine;
— Fig. 5 shows a possible implementation of the system on an apparatus for locating an endoscopic capsule .
Description of a preferred exemplary embodiment
With reference to Figs. 1 and 2, a system 100 for detecting the distance between two elements comprises a sensitive element 110 comprising a first conductive electrode 111 and a second conductive electrode 112.
Between the two electrodes 111,112 it is generated a first electric field E1 having a first frequency
and a first phase f1, which produce in turn a current having density of charge qq on the second conductive electrode 112. Such current is determined by a control unit, capable of monitoring
its variation in consequence of an interference in the electric field E1.
The system 100 then comprises a responding element 120 adapted to generate a second electric field E2 having a second frequency f2 and a second phase f2.
When the second electric field E2 interacts with the first electric field Elr the control unit measures a variation of the density of charge qq proportional to the distance d between the sensitive element 110 and the responding element 120.
Owing to the generation of the electric field E2, the responding element 120 produces a variation of the density of charge qq at a distance d much higher than a passive element, such as a metal body or a human body.
In Fig. 2 a possible exemplary embodiment of the sensitive element 110 is shown, wherein the conductive electrodes 111 and 112 have laminar shape and lay both in a plane p.
In particular, as shown, the conductive electrodes 111,112 are arranged along concentric polygonal spirals, in particular hexagonal, allowing the second conductive electrode 112 to be more responsive to the current generated by the electric field E1 and having density of charge q1.
In Fig. 3 an exemplary embodiment of the system is shown wherein a plurality of sensitive elements 110 is
provided, according to the exemplary embodiment of Fig. 2, which are arranged in a configuration suitable for optimizing the space.
The geometry of the single sensitive element 110 is such as to guarantee a flexible geometric integration of several sensitive elements 110, one adjacent to the other, in order to cover complex, of reduced size, curved or irregular surfaces .
Such spatial configuration allows also a better mechanical resistance to any traumatic impacts with the sensitive element by external bodies.
A further advantage of the configuration of Figure 3 lies in the fact that the sensitivity of the sensitive element is maximized by exploiting the superposition of the effects of the various electric fields produced.
Figure 4 schematically shows a possible implementation of the 100 system within a "collaborative" work space in which robotic devices and human operators work together.
In particular a plurality of sensitive elements 110 are positioned on the robotic device 200, according to the embodiment shown in Figure 3, while the human operator wears a responding element 120 having the shape of a bracelet.
In a similar way, the responding element 120 could be installed in any other object, wearable or not, such as a plaster, a piece of clothing, and more.
Thanks to the fact that, for the same sensitivity, the sensitive element 110 has very small dimensions compared to the capacitive sensors of the prior art, it is possible to install a plurality of such sensitive elements 110, with variable size and geometry, on a curved surface, such as that of the robotic device 200, without incurring any type of complication or structural modification of the robotic machine .
On the robotic device 200 and/or on the responding element 120 a displacement sensor can also be installed suitable to provide information to the control unit regarding position and/or speed and/or acceleration of the sensitive element 110 and/or of the element respondent 120.
In this way the control unit, knowing the topography of the "collaborative" workspace, is able to have further information about the proximity between robotic devices and human operators, providing a redundancy that allows to increase the security of the system 100.
Moreover, the system can be programmed in such a way that, when the distance d between the sensitive element 110 and the responding element 120 falls below a predetermined value, a warning light turns on to send a luminous and/or sound feedback and/or vibro-tactile, or alternatively a command to block or change direction or change speed is given to a robotic device which risks colliding with a human
operator. Advantageously, the system can subsequently give a command to resume normal movement to the robotic device when the distance d is higher than the predetermined threshold.
The system 100 can also comprise a shielding installed on the robotic device 200 configured for avoiding that the lines of the first electric field E1 exit by a predetermined portion of surrounding environment, interfering with the electronics of the robotic device itself.
Furthermore, this shielding, in certain conditions, increases the sensitivity of the system 100 since it maximizes the propagation of the electric field E1 in the portion of space wherein the shielding does not act, i.e. that one oriented towards the outside of the robotic device 200.
Figure 5 shows a possible implementation of the system 100 on an apparatus 300 for the localization of an endoscopic capsule 310 within the gastrointestinal tract of a patient.
In particular, the apparatus comprises a detection device 310, for example a wearable belt, on which a plurality of sensitive elements 110 is arranged, and an endoscopic capsule 320 in which a responsive element 120 is arranged.
The foregoing description some exemplary specific embodiments will so fully reveal the invention according to the conceptual point of view, so that others, by applying current knowledge, will be able to modify and/or adapt in various applications the specific exemplary embodiments
without further research and without parting from the invention, and, accordingly, it is meant that such adaptations and modifications will have to be considered as equivalent to the specific embodiments. The means and the materials to realise the different functions described herein could have a different nature without, for this reason, departing from the field of the invention. It is to be understood that the phraseology or terminology that is employed herein is for the purpose of description and not of limitation.
Claims
1. A system (100) for detecting the distance between two elements (110,120), said system (100) comprising:
— at least one sensitive element (110) comprising a first conductive electrode (111) and a second conductive electrode (112), between said electrodes (111,112) being generated a first electric field E1 having a first frequency
and a first phase f1 when said electrodes (111,112) have a potential difference NV ¹ 0 between them, said first electric field E1 generating on said second conductive electrode (112) a density of charge qq;
— a control unit configured to measure a variation of said density of charge qq;
said system (100) characterized in that it also comprises a responding element (120) adapted to generate a second electric field E2 having a second frequency f2 and a second phase f2, said system (100) being configured in such a way that when said second electric field E2 interacts with said first electric field Elr said control unit measures a variation of said density of charge qq proportional to a distance d between said sensitive element (110) and said responding element
(120) .
2. The system (100), according to claim 1, wherein said
responding element (120) is adapted to measure said first electric field E1 and to generate a second electric field E2 having a second phase f2 = <Pi + 180°, in order to increase the interaction between said electric fields E1 andE2 and to increase the maximum distance d to which said control unit can measure a variation of said density of charge qq .
3. The system (100), according to claim 1, wherein said responding element (120) is adapted to measure said first electric field E1 and to generate a second electric field E2 having a second frequency f2 — k * fl where k is a integer number not null, in order to increase the interaction between said electric fields E1 andE2 and to increase the maximum distance d to which said control unit can measure a variation of said density of charge qq .
4. The system (100), according to claim 1, wherein said conductive electrodes (111,112) have laminar shape and lay both in a plane p.
5. The system (100), according to claim 4, wherein said conductive electrodes (111,112) are arranged along concentric polygonal spirals.
6. The system (100), according to claim 1, wherein a shielding is also comprised arranged to avoid that the
lines of said first electric field E1 exit by a predetermined portion of surrounding environment, in order to prevent said electric field E1 from interfering with unwanted equipment.
7 . The system (100), according to claims 4 and 6, wherein said portion of surrounding environment is a cone having rotation axis substantially orthogonal to said plane p.
8. The system (100), according to claim 1, wherein said responding element (120) comprises an responding electrode (122) on which said second electric field E2 generates a density of charge q2 , said control unit configured to measure also a variation of said density of charge q2 , in such a way that said sensitive element (110) and said responding element (120) are interchangeable to each other.
9 . The system (100), according to claim 1, wherein said sensitive element (110) is configured for being disposed on at least one robotic device (200) and said responding element (120) is configured for being worn by at least another robotic device and/or by a human operator.
10 . The system (100), according to claim 9, wherein an element deformable (150) is also comprised arranged to be disposed on at least one robotic device (200) for absorbing at least partially the energy of an impact
with an external body.
11. The system (100), according to claims 6 and 9, wherein said shielding is configured for avoiding that the lines of said first electric field E1 interfere with said robotic device (200) .
12. The system (100), according to claim 1, wherein said first electric field E1 and/or said second electric field E2 are generated by means of alternating current.
13. The system (100), according to claim 1, wherein at least one sensor of movement is also comprised arranged to provide data to said control unit relating to position and/or speed and/or acceleration of said sensitive element (110) and/or of said responding element (120) .
14. The system (100), according to claim 1, wherein at least one indicator is also provided arranged to send a signal in case that said distance d between said sensitive element (110) and said responding element (120) is less than a predetermined value.
15. The system (100), according to claim 9, wherein, when said distance d between said sensitive element (110) and said responding element (120) is less than a predetermined value, said control unit is adapted to send a command of block or motion variation to said
robotic device (200) .
16. An apparatus (300) for locating a medical device in the body of a patient, wherein the system (100) according to any of claims from 1 to 15 is comprised, and wherein they are also comprised:
— a detection device (310) comprising said at least one sensitive element (110);
— a medical device (320) configured to be inserted in the body of said patient, said medical device (310) comprising said responding element (120) .
17. The apparatus (300), according to claim 16, wherein said detection device (310) comprises a plurality of sensitive elements (110) of known position with respect to said detection device (310) .
18. The apparatus (300), according to claim 17, wherein said control unit is adapted to:
— locate the position of said detection device (310), and therefore of each sensitive element (110) of said plurality, with respect to a reference system S;
— determine, among said plurality of sensitive elements (110), the sensitive element (110') having minimum distance dmjn with respect to said responding element (120) present in said medical device (320) ;
— define a plane x-y parallel to said sensitive element (110') having minimum distance dmin;
— calculate the planar coordinates [x,y] of said sensitive element (110') on said plane x-y;
— associate to said medical device (320) said planar coordinates [x,y] of said sensitive element (110') on said plane x-y;
— associate to said medical device (320) a coordinate z equal to said minimum distance dmin;
— repeat the above described operations at predetermined intervals to locate in real time the position of said medical device (320) with respect to said reference system S.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| IT201800007150 | 2018-07-12 | ||
| IT102018000007150 | 2018-07-12 |
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| Publication Number | Publication Date |
|---|---|
| WO2020012440A1 true WO2020012440A1 (en) | 2020-01-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| PCT/IB2019/055975 WO2020012440A1 (en) | 2018-07-12 | 2019-07-12 | Sensitive system for increased proximity detection |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4814691A (en) * | 1985-08-09 | 1989-03-21 | Washington Research Foundation | Fringe field capacitive sensor for measuring profile of a surface |
| DE10323030A1 (en) * | 2003-05-20 | 2004-12-09 | Stefan Reich | Capacitive sensor for multiple applications measures values that influence the capacitance of a measurement space by measuring the capacitive coupling between two electrodes and relating it to a physical value |
| JP2005304638A (en) * | 2004-04-19 | 2005-11-04 | Olympus Corp | Position/posture detecting system for capsule type medical device |
| US20100179782A1 (en) * | 2007-03-25 | 2010-07-15 | Olympus Medical Systems Corp. | Position detecting device |
| US20120101333A1 (en) * | 2010-03-05 | 2012-04-26 | Olympus Medical Systems Corp. | Capsule endoscope activation system |
| US20170031050A1 (en) * | 2015-07-29 | 2017-02-02 | Texas Instruments Incorporated | Distance determination based on reflected admittance |
| JP2017161248A (en) * | 2016-03-07 | 2017-09-14 | ぺんてる株式会社 | Electrode structure for capacitance coupling type switch |
| WO2018158918A1 (en) * | 2017-03-02 | 2018-09-07 | 三菱電機株式会社 | Position detection device and electrical power transmission device |
-
2019
- 2019-07-12 WO PCT/IB2019/055975 patent/WO2020012440A1/en active Application Filing
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4814691A (en) * | 1985-08-09 | 1989-03-21 | Washington Research Foundation | Fringe field capacitive sensor for measuring profile of a surface |
| DE10323030A1 (en) * | 2003-05-20 | 2004-12-09 | Stefan Reich | Capacitive sensor for multiple applications measures values that influence the capacitance of a measurement space by measuring the capacitive coupling between two electrodes and relating it to a physical value |
| JP2005304638A (en) * | 2004-04-19 | 2005-11-04 | Olympus Corp | Position/posture detecting system for capsule type medical device |
| US20100179782A1 (en) * | 2007-03-25 | 2010-07-15 | Olympus Medical Systems Corp. | Position detecting device |
| US20120101333A1 (en) * | 2010-03-05 | 2012-04-26 | Olympus Medical Systems Corp. | Capsule endoscope activation system |
| US20170031050A1 (en) * | 2015-07-29 | 2017-02-02 | Texas Instruments Incorporated | Distance determination based on reflected admittance |
| JP2017161248A (en) * | 2016-03-07 | 2017-09-14 | ぺんてる株式会社 | Electrode structure for capacitance coupling type switch |
| WO2018158918A1 (en) * | 2017-03-02 | 2018-09-07 | 三菱電機株式会社 | Position detection device and electrical power transmission device |
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