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1. (WO2019025255) ROBOT CONTROL METHOD
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Pub. No.: WO/2019/025255 International Application No.: PCT/EP2018/070161
Publication Date: 07.02.2019 International Filing Date: 25.07.2018
IPC:
B25J 9/16 (2006.01) ,F16P 3/14 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
16
Programme controls
F MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16
ENGINEERING ELEMENTS OR UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
P
SAFETY DEVICES IN GENERAL
3
Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
12
with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
14
the means being photocells or other devices sensitive without mechanical contact
Applicants:
ABB SCHWEIZ AG [CH/CH]; Brown Boveri Strasse 6 5400 Baden, CH
Inventors:
LEHMENT, Dr. Ing. Nicolas; DE
DECKER, Dr. rer.nat. Andreas; DE
ROBERTS, Ph. D. Richard; DE
MATTHIAS, Dr. Björn; DE
TIAN, Jihuan; CN
Agent:
MARKS, Frank; DE
Priority Data:
17184381.602.08.2017EP
17194103.229.09.2017EP
Title (EN) ROBOT CONTROL METHOD
(FR) PROCÉDÉ DE COMMANDE DE ROBOT
Abstract:
(EN) A method for controlling a robot (1) comprises the steps of: a) deciding (S2) whether there is a non-permanent object (18, 19, 20) in the vicinity of the robot (1); b) if there is a non-permanent object (18, 19, 20), deciding (S5, S6, S11,S12) whether the object qualifies for extended protection or not, and c) defining a safety zone (21) around the object (18, 19, 20) which the robot (1) must not enter or in which a maximum allowed speed of the robot (1) is less than outside said zone, wherein the safety zone (21) extends to a greater distance from said object (18, 19, 20) if it qualifies for extended protection than if it does not.
(FR) Procédé de commande d'un robot (1) comprenant les étapes consistant à : a) décider (S2) s'il existe un objet non permanent (18, 19, 20) à proximité du robot (1) ; b) s'il existe un objet non permanent (18, 19, 20), décider (S5, S6, S11, S12) si l'objet est qualifié pour une protection étendue ou non, et c) définir une zone de sécurité (21) autour de l'objet (18, 19, 20) dans laquelle le robot (1) ne doit pas entrer ou dans laquelle une vitesse autorisée maximale du robot (1) est inférieure à celle autorisée à l'extérieur de ladite zone, la zone de sécurité (21) s'étendant jusqu'à une distance plus grande à partir dudit objet (18, 19, 20) s'il est qualifié pour une protection étendue que s'il ne l'est pas.
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)