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1. WO2020115479 - IMPROVEMENTS IN AND RELATING TO CONTROL APPARATUS

Publication Number WO/2020/115479
Publication Date 11.06.2020
International Application No. PCT/GB2019/053426
International Filing Date 04.12.2019
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
CPC
B25J 9/1625
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1615characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
1625Truss-manipulator for snake-like motion
B25J 9/1671
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1656characterised by programming, planning systems for manipulators
1671characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
B25J 9/1689
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1679characterised by the tasks executed
1689Teleoperation
G01T 7/00
GPHYSICS
01MEASURING; TESTING
TMEASUREMENT OF NUCLEAR OR X-RADIATION
7Details of radiation-measuring instruments
G05B 2219/40131
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
40Robotics, robotics mapping to robotics vision
40131Virtual reality control, programming of manipulator
Applicants
  • CAVENDISH NUCLEAR LIMITED [GB]/[GB]
Inventors
  • OLNER, William
Agents
  • PAWLYN, Anthony Neil
Priority Data
1819805.104.12.2018GB
1819806.904.12.2018GB
1910943.831.07.2019GB
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) IMPROVEMENTS IN AND RELATING TO CONTROL APPARATUS
(FR) AMÉLIORATION PORTANT SUR ET CONCERNANT UN APPAREIL DE COMMANDE
Abstract
(EN)
Control apparatus for robotic units is provided, together with methods of controlling, in which the data acquisition includes spatial information, together with radiometric information on the contents of that environment. When these two data sets are overlain with one another using VR, the user has far more useful information on the environment. This enables, amongst other benefits, improved planning and verification of the operation robotically controlled stages/actions to be applied to the environment. The use of VR enables improved positioning of robotics within the environment and improved positioning for the operations, such as laser cutting, provided by the robotics at positions within the environment. This is useful in nuclear decommissioning operations and other situations.
(FR)
Cette invention concerne un appareil de commande pour des unités robotiques, ainsi que des procédés de commande, dans lesquels l'acquisition de données comprend des informations spatiales, conjointement avec des informations radiométriques sur le contenu de cet environnement. Lorsque ces deux ensembles de données sont superposés par réalité virtuelle, l'utilisateur a beaucoup plus d'informations utiles sur l'environnement. Ceci permet, entre autres avantages, une planification et une vérification améliorées des étapes/actions commandées de manière robotisée pour être appliquées à l'environnement. L'utilisation de la réalité virtuelle permet un positionnement amélioré du système robotique dans l'environnement et un positionnement amélioré pour les opérations, telles que la découpe au laser, fournies par le système robotique dans des positions dans l'environnement. Ceci est utile dans des opérations de déclassement et d'autres situations.
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