公开(公告)号：US10081106B2

公开(公告)日：2018-09-25

申请号：US14951479

申请日：2015-11-24

申请人： X Development LLC

发明人： Ethan Rublee ,  John Zevenbergen

IPC分类号： B25J9/16 ,  B25J19/02 ,  G05D1/02

CPC分类号： B25J9/1676 ,  B25J9/1694 ,  B25J19/02 ,  B25J19/021 ,  G05B2219/39085 ,  G05B2219/40202 ,  G05B2219/40219 ,  G05B2219/43202 ,  G05B2219/49137 ,  G05B2219/49141 ,  G05D1/0289 ,  G05D2201/0216 ,  G06Q10/06 ,  G06Q10/08 ,  Y10S901/09

摘要： Systems and methods are provided for specifying safety rules for robotic devices. A computing device can determine information about any actors present within a predetermined area of an environment. The computing device can determine a safety classification for the predetermined area based on the information. The safety classification can include: a low safety classification if the information indicates zero actors are present within the predetermined area, a medium safety classification if the information indicates any actors are present within the predetermined area all are of a predetermined first type, and a high safety classification if the information indicates at least one actor present within the predetermined area is of a predetermined second type. After determining the safety classification for the predetermined area, the computing device can provide a safety rule for operating within the predetermined area to a robotic device operating in the environment.

公开(公告)号：US09981385B2

公开(公告)日：2018-05-29

申请号：US14881064

申请日：2015-10-12

申请人： The Boeing Company

发明人： Melissa H. Lewis

IPC分类号： G05B19/18 ,  B25J9/16

CPC分类号： B25J9/1676 ,  G05B2219/40202 ,  G05B2219/40203 ,  G05B2219/49141

摘要： Methods and apparatus are provided for operating robotic actors in a human/robotic environment. A safety controller that is configured to communicate with one or more robotic actors can receive actor information about at least a location of one or more actors. The safety controller can receive robot information comprising at least a location of a particular robotic actor of the one or more robotic actors. The safety controller can determine a command for controlling operation of the particular robotic actor of the one or more robotic actors by applying one or more safety criteria to the actor information and the robot information. The safety controller can generate an output including the command for controlling operation of the particular robotic actor.

公开(公告)号：US09969085B2

公开(公告)日：2018-05-15

申请号：US15655612

申请日：2017-07-20

申请人： FANUC CORPORATION

发明人： Kenji Sugio

IPC分类号： G05B19/04 ,  B25J9/16

CPC分类号： B25J9/1651 ,  B25J9/1666 ,  B25J9/1676 ,  G05B2219/40202 ,  G05B2219/49138

摘要： A control device for a robot, includes a speed calculator that calculates the speed of at least one target point of the robot operating according to an operation program, on the basis of a speed command value written in the operation program; a limitation direction specifier that specifies a direction in which the speed of the at least one target point is limited; a speed limit component calculator that calculates, out of the speed of the at least one target point calculated by the speed calculator, a speed component in the direction specified by the limitation direction specifier; and a speed limiter that limits, only upon motion exceeding a prespecified speed limit, a motion speed of the robot such that the speed component calculated by the speed limit component calculator is equal to or less than the prespecified speed limit.

公开(公告)号：US20180126558A1

公开(公告)日：2018-05-10

申请号：US15726818

申请日：2017-10-06

申请人： FANUC CORPORATION

发明人： Masafumi OOBA

IPC分类号： B25J9/16 ,  G06N3/08 ,  G05B19/423 ,  G05B19/418 ,  G06K9/00 ,  B25J13/08

CPC分类号： B25J9/1694 ,  B25J9/161 ,  B25J9/163 ,  B25J13/089 ,  B25J19/06 ,  G05B19/4183 ,  G05B19/423 ,  G05B2219/40198 ,  G05B2219/40202 ,  G05B2219/40409 ,  G06K9/00382 ,  G06N3/08

摘要： A work assisting system includes a sensor unit that detects a position and an orientation of at least one body part of a worker; a supply unit that supplies a part or a tool to the worker; and a cell controller that controls the supply unit, the cell controller including a machine learning unit that constructs a model by learning a work status of the worker on the basis of the detected position and orientation, and a work status determining unit that determines the work status of the worker by using the constructed model. The supply unit selects the part or tool on the basis of the determined work status and changes the position and orientation of the part or tool on the basis of the position and orientation of the at least one body part.

公开(公告)号：US09937628B2

公开(公告)日：2018-04-10

申请号：US14636527

申请日：2015-03-03

申请人： The Procter & Gamble Company

发明人： Jeffrey Kyle Werner ,  Alexander Cyrus Salimian ,  Robert Scott Bollinger ,  Robert Paul Gordon ,  Keith Andrew Swenson

IPC分类号： B25J19/06 ,  B25J13/08 ,  B25J15/04 ,  B25J9/16

CPC分类号： B25J19/063 ,  B25J9/1676 ,  B25J13/086 ,  B25J15/04 ,  G05B2219/40202

摘要： A safety device for a mechanical motion device and a method for protecting a person or object in the vicinity of a mechanical motion device are described herein. The safety device may include: a shroud; a coupling mechanism; and a detection device. The coupling mechanism joins the shroud in a displaceable manner to a mechanical motion device. The detection device is configured for communication with the safety control system of a mechanical motion device. The detection device is capable of detecting misalignment of the shroud from its initial aligned position and/or a collision between the shroud and a person or object. The detection device may send a signal to the safety control system of the mechanical motion device to at least slow the movement of the mechanical motion device before the mechanical motion device reaches the location of the collision of the shroud with an object or person.

公开(公告)号：US09927797B2

公开(公告)日：2018-03-27

申请号：US14472717

申请日：2014-08-29

申请人： Amazon Technologies, Inc.

发明人： Andrew Stubbs ,  Matthew David Verminski ,  Michael T. Barbehenn ,  Andrew Brenden Tinka ,  Peter K. Mansfield ,  Peter R. Wurman

IPC分类号： G05B19/4061 ,  G05B19/042 ,  G05B19/418 ,  G05D1/02 ,  B25J5/00 ,  B25J9/16

CPC分类号： G05B19/4061 ,  B25J5/00 ,  B25J9/1676 ,  G05B19/0428 ,  G05B19/41895 ,  G05B2219/40173 ,  G05B2219/40202 ,  G05D1/0214 ,  G05D1/0234 ,  G05D1/0246 ,  G05D1/0261 ,  G05D2201/0216 ,  Y02P90/285 ,  Y02P90/60 ,  Y10S901/01

摘要： Techniques for making a physical area safe for a human to enter when mobile drive units (e.g., robots) are operating in the physical area are described. A management device may send an activity message to the mobile drive units instructing the mobile drive units to perform a set of activities. If a human is detected in the physical area, the management device may stop sending the activity command. If the mobile drive units do not receive the activity command, the mobile drive units may stop performing the set of activities. After the management device determines that the human has left the physical area, the management device may resume sending the activity message.

公开(公告)号：US20180079079A1

公开(公告)日：2018-03-22

申请号：US15563125

申请日：2016-03-31

申请人： ABB gomtec GmbH

发明人： BERND Gombert ,  Michael Ries ,  Leopold Bock-Krausen

IPC分类号： B25J9/16 ,  B25J5/00 ,  B25J9/00 ,  G05D1/02

CPC分类号： B25J9/1676 ,  B25J5/007 ,  B25J9/0018 ,  B25J9/0084 ,  B25J9/0087 ,  G05B2219/31003 ,  G05B2219/39082 ,  G05B2219/39085 ,  G05B2219/39088 ,  G05B2219/40202 ,  G05D1/0011 ,  G05D1/0251 ,  G05D2201/0217 ,  Y02P90/285 ,  Y10S901/01

摘要： The invention relates to a mobile robot having running gear and at least one robot arm mounted on the running gear, a sensor system for sensing obstacles in the surroundings of the robot and a navigation unit for laying down a route along which the running gear can be moved while avoiding the obstacles, and a control unit for the robot arm which is adapted to lay down a permissible position for the robot arm by reference to the obstacles sensed and the route.

公开(公告)号：US09844878B2

公开(公告)日：2017-12-19

申请号：US14434001

申请日：2013-10-07

申请人： DEUTSCHES ZENTRUM FÜR LUFT- UND RAUMFAHRT E. V.

发明人： Sami Haddadin ,  Simon Haddadin

IPC分类号： B25J9/16 ,  G05B19/416 ,  G05B19/4061

CPC分类号： B25J9/1666 ,  B25J9/1676 ,  G05B19/4061 ,  G05B19/416 ,  G05B2219/40198 ,  G05B2219/40202 ,  G05B2219/40418

摘要： A method for controlling a robot device (500) having a movable manipulator and/or effector (400), according to which method a speed and/or direction of movement of the manipulator and/or effector (400) is monitored and adjusted as appropriate, taking into consideration medical parameters for injury and robot dynamics is provided. A robot device (500) for implementing such a method and to a computer program product for executing such a method.

公开(公告)号：US20170357242A1

公开(公告)日：2017-12-14

申请号：US15539711

申请日：2014-12-26

申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA

发明人： Masayuki WATANABE ,  Toshihiko MIYAZAKI ,  Takashi OHIGE ,  Ayataka KOBAYASHI

IPC分类号： G05B19/4061 ,  B25J9/16

CPC分类号： G05B19/4061 ,  B25J9/1666 ,  B25J9/1676 ,  B25J19/06 ,  G05B2219/40202 ,  G05B2219/42288

摘要： A controller is configured to operate a robot arm at a speed that is equal to or lower than a first maximum speed in a high-speed operation region, and operate the robot arm at a speed that is equal to or lower than a second maximum speed lower than the first maximum speed in a low-speed operation region, and change a collision detection sensitivity between the high-speed operation region and the low-speed operation region so that the collision detection sensitivity in the high-speed operation region becomes lower than the collision detection sensitivity in the low-speed operation region.

公开(公告)号：US20170337831A1

公开(公告)日：2017-11-23

申请号：US15599303

申请日：2017-05-18

申请人： Converge Industries, Co.

发明人： David J. Moore Pitman ,  Paul W. Quimby ,  Robert D. Corona

IPC分类号： G08G5/04 ,  G08G5/00

CPC分类号： G08G5/045 ,  B25J9/1676 ,  G05B17/02 ,  G05B2219/40202 ,  G05D1/0088 ,  G08G1/165 ,  G08G1/166 ,  G08G3/02 ,  G08G5/0013 ,  G08G5/0069 ,  G08G5/0086

摘要： One variation of a method for facilitating integration of user input and autonomous operations of a robotic system includes: storing a set of constraints of the robotic system; storing a model of an environment in which the robotic system is to operate; determining whether the robotic system can successfully perform operations specified by a user based on the constraints of the robotic system and the model of the environment; and, in response to determining that the robotic system cannot successfully perform the operations, modifying the operations so that the modified operations can be performed by the robotic system; and generating a set of commands for the robotic system based on the modified operations.