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1. AU2015270430 - Collision detection

Office Australie
Numéro de la demande 2015270430
Date de la demande 05.06.2015
Numéro de publication 2015270430
Date de publication 08.12.2016
Type de publication A1
CIB
B25J 9/16
BTECHNIQUES INDUSTRIELLES; TRANSPORTS
25OUTILS À MAIN; OUTILS PORTATIFS À MOTEUR; MANCHES POUR USTENSILES À MAIN; OUTILLAGE D'ATELIER; MANIPULATEURS
JMANIPULATEURS; ENCEINTES À DISPOSITIFS DE MANIPULATION INTÉGRÉS
9Manipulateurs à commande programmée
16Commandes à programme
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 2219/37622
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
37622Detect collision, blocking, stall by change, lag in position
G05B 2219/37624
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
37624Detect collision, blocking by measuring change of velocity or torque
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 19/02
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
02Sensing devices
B25J 9/1653
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1628characterised by the control loop
1653parameters identification, estimation, stiffness, accuracy, error analysis
Déposants Softbank Robotics Europe
Mandataires Spruson & Ferguson
Données relatives à la priorité 14305848 05.06.2014 EP
Titre
(EN) Collision detection
Abrégé
(EN)
There is disclosed a computer-implemented method of determining a collision between an object and a robot, comprising monitoring one or more articular parts of said robot by measuring the parameters associated with the real displacements of said one or more articular parts; comparing said measured parameters with the expected parameters associated with the corresponding commanded displacements; and determining the probability of a collision with an object. Described developments comprise the exclusion of system failures, the identification of the collided object by computer vision or by communicating with said object, the execution of one or more actions such as a safety mode, the identification of systematic discrepancies in performed comparisons, the grouping of articular parts belonging to a same articular chain, and the mutual surveillance of robots. The use of capacitive sensors, bumper sensors and magnetic rotary encoders is disclosed.