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1. CN106604804 - Collision detection

Office Chine
Numéro de la demande 201580029813.6
Date de la demande 05.06.2015
Numéro de publication 106604804
Date de publication 26.04.2017
Numéro de délivrance 106604804
Date de délivrance 06.12.2019
Type de publication B
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 ALDEBARAN ROBOTICS
软银机器人欧洲公司
Inventeurs DALIBARD SEBASTIEN
S·达利巴尔
GOUAILLIER DAVID
D·古艾列
Mandataires 永新专利商标代理有限公司 72002
永新专利商标代理有限公司 72002
Données relatives à la priorité 14305848 05.06.2014 EP
Titre
(EN) Collision detection
(ZH) 碰撞检测
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.

(ZH)
公开了一种确定对象与机器人之间的碰撞的计算机实现的方法,包括通过测量与所述机器人的一个或多个关节部分的实际位移相关联的参数监测所述一个或多个关节部分;将所述测量参数与关联于对应的命令位移的预期参数进行比较;以及确定与对象发生碰撞的概率。所述开发包括排除系统故障,通过计算机视觉或通过与所述对象通信识别所述碰撞对象,执行例如安全模式的一个或多个动作,识别执行比较中的系统差异,分组属于相同的关节链的关节部分以及机器人的相互监视。公开了电容传感器、保险杠传感器以及磁性旋转编码器的使用。