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1. WO2020069716 - SAFE OPERATION OF A ROBOTIC SYSTEM

Publication Number WO/2020/069716
Publication Date 09.04.2020
International Application No. PCT/EP2018/076612
International Filing Date 01.10.2018
IPC
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
G05B 19/418 2006.01
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
418Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
CPC
B25J 9/1674
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1674characterised by safety, monitoring, diagnostic
G05B 19/41815
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
418Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
41815characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
G05B 19/41895
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
418Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
4189characterised by the transport system
41895using automatic guided vehicles [AGV]
G05B 2219/37631
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
37Measurements
37631Means detecting object in forbidden zone
G05B 2219/39102
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
39Robotics, robotics to robotics hand
39102Manipulator cooperating with conveyor
G05B 2219/39118
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
39Robotics, robotics to robotics hand
39118Cooperation between manipulator and vehicle with manipulator
Applicants
  • ABB SCHWEIZ AG [CH]/[CH]
Inventors
  • DAI, Fan
  • KIRSTEN, Rene
  • MATTHIAS, Björn
Agents
  • MARKS, Frank
Priority Data
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) SAFE OPERATION OF A ROBOTIC SYSTEM
(FR) OPÉRATION SÉCURISÉE D'UN SYSTÈME ROBOTIQUE
Abstract
(EN)
A robotic system (100) is provided, which comprises at least one robot (10), a robot controller (16) configured to control an operation of the at least one robot (10), and a robot sensor system (20) with at least one robot sensor (22), wherein the robot sensor system (20) is coupled to the robot controller (16) and configured to detect presence of an object (18) in a robot safety zone (24), which robot safety zone at least partially surrounds the at least one robot (10). The robotic system further comprises at least one automated vehicle (30) for supplying the at least one robot (10), wherein the at least one vehicle (30) comprises at least one vehicle sensor (32) configured to detect presence of an object (18) in a vehicle safety zone (36), which vehicle safety zone at least partially surrounds the at least one vehicle (30). The robot controller (16) is configured to determine an entry of the at least one vehicle (30) into the robot safety zone (24), and to adjust at least a part of the robot safety zone (24) in response to determining the entry of the at least one vehicle (30) into the robot safety zone (24).
(FR)
L'invention concerne un système robotique (100), qui comprend au moins un robot (10), un dispositif de commande de robot (16) configuré pour commander une opération de l'au moins un robot (10) et un système de capteur de robot (20) doté d'au moins un capteur de robot (22), le système de capteur de robot (20) étant couplé au dispositif de commande de robot (16) et configuré pour détecter la présence d'un objet (18) dans une zone de sécurité de robot (24), ladite zone de sécurité de robot entourant au moins partiellement ledit au moins un robot (10). Le système robotique comprend en outre au moins un véhicule automatisé (30) destiné à fournir l'au moins un robot (10), l'au moins un véhicule (30) comprenant au moins un capteur de véhicule (32) configuré pour détecter la présence d'un objet (18) dans une zone de sécurité de véhicule (36), ladite zone de sécurité de véhicule entourant au moins partiellement ledit au moins un véhicule (30). Le dispositif de commande de robot (16) est configuré pour déterminer une entrée de l'au moins un véhicule (30) dans la zone de sécurité de robot (24) et pour régler au moins une partie de la zone de sécurité de robot (24) en réponse à la détermination de l'entrée dudit au moins un véhicule (30) dans la zone de sécurité de robot (24).
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