公开(公告)号：US09278452B2

公开(公告)日：2016-03-08

申请号：US14638668

申请日：2015-03-04

Applicant: Tecan Trading AG

Inventor： Joel Brandenberger

IPC: G05B19/18 ,  B25J9/16 ,  B25J9/00 ,  G05B19/4061 ,  G01N35/00 ,  G01N35/10 ,  G01N35/04

CPC classification number: B25J9/1676 ,  B25J9/0087 ,  B25J9/026 ,  B25J9/1666 ,  G01N35/0099 ,  G01N35/10 ,  G01N2035/0491 ,  G05B19/4061 ,  G05B2219/39083 ,  G05B2219/40497 ,  Y10S901/14 ,  Y10S901/49

Abstract: An Automated handling system has a working area, at least one object in the working area, at least a first numerically controlled arm and at least a second numerically controlled arm. The arms are movable above the working area and have a collision avoidance mechanism. The current actual topography of the working area is determinable, a movement planning algorithm determines a path from a first position to a second position, wherein in the first application of the movement planning algorithm a reference path, a quasi-static collision examination for the path, which has been provided by the movement planning algorithm, is applicable, a dynamic collision examination for the path, which has been suggested by the movement planning algorithm, is applicable, and wherein the collision examination determine whether, when moving the first arm a collision would be provoked.

Abstract translation: 自动处理系统具有工作区域，工作区域中的至少一个对象，至少第一数字控制臂和至少第二数字控制臂。 臂可移动到工作区域上方并具有防撞机制。 运动规划算法确定从第一位置到第二位置的路径，其中在运动规划算法的第一应用中参考路径，路径的准静态碰撞检查 可以应用运动规划算法提供的运动规划算法所提出的路径的动态碰撞检测，其中碰撞检查确定当移动第一臂时是否发生碰撞 会被挑起