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1. EP2952300 - Détection de collision

Office Office européen des brevets (OEB)
Numéro de la demande 14305848
Date de la demande 05.06.2014
Numéro de publication 2952300
Date de publication 09.12.2015
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
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
B25J 9/1697
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1694characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
1697Vision controlled systems
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
G05B 2219/39011
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
39011Fixed camera detects deviation end effector from reference on workpiece, object
Déposants ALDEBARAN ROBOTICS
Inventeurs DALIBARD SÉBASTIEN
GOUAILLIER DAVID
États désignés
Données relatives à la priorité 14305848 05.06.2014 EP
Titre
(DE) Kollisionserkennung
(EN) Collision detection
(FR) Détection de collision
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.