DETECTION OF ENGAGEMENT OF ROBOT WITH OBJECT
A device ( 10 ) is placed on an object ( 30 ) handled by a robot ( 100 ). Based on measurements performed by at least one sensor of the device ( 10 ), engagement of the robot ( 100 ) with the object ( 30 ) is detected. The measurements may for example include acceleration measurements which allow for detecting movement of the object ( 30 ) caused by the robot ( 100 ).
1 . A method of supporting handling of an object by a robot, the method comprising:
based on measurements performed by at least one sensor of a device placed on the object, detecting engagement of the robot with the object.
2 . The method according to claim 1 ,
wherein the measurements comprise acceleration measurements.
3 . The method according to claim 1 ,
wherein the at least one sensor of the device comprises an accelerometer.
4 . The method according to claim 1 ,
wherein the at least one sensor of the device comprises a gyroscope.
5 . The method according to claim 1 ,
wherein said detecting of engagement of the robot with the object comprises correlating motion of the robot and motion of the object as indicated by the measurements.
6 . The method according to claim 1 , comprising:
based on said detecting of engagement of the robot with the object, determining a location of the object in a coordinate system of the robot.
7 . The method according to claim 1 , comprising:
based on said detecting of engagement of the robot with the object, determining an orientation of the object in a coordinate system of the robot.
8 . The method according to claim 1 , further comprising:
based on measurement of signals transmitted between the device and at least one further device, determining a location of the object.
9 . The method according to claim 1 , comprising:
the device sending a report of a result of said detecting of engagement of the robot with the object to the robot.
10 . The method according to claim 1 , comprising:
the device sending a report of the measurements to the robot.
11 . A device to be placed on an object handled by a robot, the device comprising:
at least one sensor;
an interface with respect to the robot; and
a processor configured to:
based on measurements performed by the at least one sensor of the device, detect engagement of the robot with the object, and
via said interface, send a report of a result of said detecting of engagement of the robot with the object to the robot.
12 . The device according to claim 11 ,
wherein the processor is configured to control the device to operate according to a method according to claim 1 .
13 . A robot for handling an object, the robot comprising:
an interface with respect to a device to be placed on the object; and
a processor configured to:
via said interface, receive a report of measurements performed by at least one sensor of the device; and
based on the reported measurements, detect engagement of the robot with the object.
14 . The robot according to claim 13 ,
wherein the processor is configured to control the robot to operate based on measurements performed by at least one sensor of a device placed on the object, detecting engagement of the robot with the object.
15 . A system, comprising:
the device according to claim 11 ; and
a robot to receive the report from the device.
16 . A system, comprising:
a robot according to claim 13 ; and
the device to be placed on the object.