EP3458232A1 - Dispositif de commande de base de sécurité mobile comprenant un dispositif de codage pour un terminal mobile à écran tactile multipoint et procédé d'établissement d'une liaison de commande associée de façon univoque - Google Patents

Dispositif de commande de base de sécurité mobile comprenant un dispositif de codage pour un terminal mobile à écran tactile multipoint et procédé d'établissement d'une liaison de commande associée de façon univoque

Info

Publication number
EP3458232A1
EP3458232A1 EP17723681.7A EP17723681A EP3458232A1 EP 3458232 A1 EP3458232 A1 EP 3458232A1 EP 17723681 A EP17723681 A EP 17723681A EP 3458232 A1 EP3458232 A1 EP 3458232A1
Authority
EP
European Patent Office
Prior art keywords
control device
mobile
basic control
touch screen
contact pins
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP17723681.7A
Other languages
German (de)
English (en)
Inventor
Martin Riedel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Deutschland GmbH
Original Assignee
KUKA Deutschland GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KUKA Deutschland GmbH filed Critical KUKA Deutschland GmbH
Publication of EP3458232A1 publication Critical patent/EP3458232A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/039—Accessories therefor, e.g. mouse pads
    • G06F3/0393—Accessories for touch pads or touch screens, e.g. mechanical guides added to touch screens for drawing straight lines, hard keys overlaying touch screens or touch pads
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
    • G06F3/04883—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures for inputting data by handwriting, e.g. gesture or text
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34456—Authorize control of machine, robot if control panel has been connected
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36159—Detachable or portable programming unit, display, pc, pda
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36168—Touchscreen
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39001—Robot, manipulator control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50198—Emergency stop
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/048—Indexing scheme relating to G06F3/048
    • G06F2203/04808—Several contacts: gestures triggering a specific function, e.g. scrolling, zooming, right-click, when the user establishes several contacts with the surface simultaneously; e.g. using several fingers or a combination of fingers and pen

Definitions

  • the invention relates to a mobile safety basic control device of a robot, comprising a hand ⁇ durable housing, an arranged on the housing emergency stop switching means, a communication device for controlling ⁇ technical connection of the mobile safety basic control device with a robot control of Robo ters, and having a with connected to the housing
  • a holder configured to store the mobile security home controller on a mobile terminal having a terminal controller and a multi-touch screen configured to communicate input to the terminal controller via the multi-touch screen.
  • DE 10 2010 025 781 A1 describes a portable security ⁇ input device with at least one input means for inputting a security signal to a Robotersteue ⁇ tion, which has an interface for communication with the security input device, in particular releasably connected handset for controlling a robot by means of communication with this robot controller.
  • the object of the invention is to provide a mobile security basic control device of a robot with an interface by means of which the mobile security
  • Basic control device in a simple and secure manner with any standard mobile devices that have a multi-touch screen, can be connected.
  • a mobile security basic control device of a robot comprising a hand-held housing, an emergency ⁇ stop switching means disposed on the housing, a communication device for ste technical connection of the mobile security basic control device with a robot control of the robot, and having a holder connected to the housing, which is designed to store the mobile security basic control device on a mobile terminal, the terminal control and a multi-touch screen configured to transmit inputs via the multi-touch screen to the terminal control
  • the mobile security basic control device comprises a coding device, which is formed in a stored by means of the holder at the mobile terminal state of the security Basic control device to automatically transmit at least one identifying the mobile security basic control device identification code via the multi-touch screen to the terminal control.
  • the mobile safety basic control device has at least one emergency stop switching means, upon actuation of which the robot is stopped immediately, ie stopped in safe technology.
  • the mobile safety basic control device can also have at least one consent device, at least one mode selection means and / or a display means, in particular a light ⁇ medium.
  • At least the emergency stop switching means is connected in a secure technique with a robot controller of the robot control technology and indeed by the communication device of the mobile safety basic control device.
  • the mobile security ground control device may be configured to communicate with the robot controller of the robot.
  • the mobile security basic control device can be connected to the robot controller either by means of an electrical connection line, or by means of a wireless Communication connection to be connected to the robot controller.
  • the mobile security basic control device can be designed and / or set up to control the robotic control of the robot by the at least one emergency stop switching device, the at least one consent device, and / or the at least one mode selection means, even if the mobile security device Basic control device is separated from the mobile terminal.
  • the mobile security basic control device can not only be configured and / or set up to hold and consent the robot if the mobile security basic control device is mechanically connected to the mobile terminal, but also for emergency and / or be adapted to the consent of the robot and / or set up when the mobile security basic control device is removed from the mobile terminal, in particular from the mobile terminal is removed.
  • a certain amount of basic control functions can be controlled via input means which are part of the mobile security basic control device.
  • This can be in particular the already mentioned emergency stop switching means.
  • further possibly non-secure input means and / or display means may be provided on the mobile security basic control device. These may be, for example, one or more lamps, switches, buttons, in particular for menu control and for recording track points of a robot track to be programmed, and / or start / stop buttons.
  • the mobile security basic control device can thus constitute a basic operating device for the robot. It can provide basic functionality for the robot, especially in terms of security functionality.
  • the mobile Si Safety basic control device alone can be constructed inexpensively and standardized. It is logically fixed to a specific, associated robot. Accordingly, a mobile security basic control device may be provided per robot. A logical assignment of the mobile security basic control device to a specific robot can be made by means of an identification code which is firmly implemented on the mobile security basic control device and is permanently assigned to a specific robot.
  • the holder serves to be able to fix the mobile security basic control device to a mobile terminal manually releasably. This means that the mobile security basic control device can be set up and / or programmed as needed and desired by a robot
  • the holder may be designed in such a way that the mobile security basic control device can be attached only to a very specific location or to a plurality of specific locations of the mobile terminal.
  • the holder may be configured to secure the mobile safety floor control device anywhere on the mobile terminal.
  • the holder can be designed, in particular, for fastening the mobile security basic control device to an edge section of the mobile terminal.
  • the mobile security basic control device has a device section which covers at least part of the multi-touch screen of the mobile terminal when the mobile security basic control device is fastened by means of the holder to the mobile terminal.
  • the mobile terminal always has at least one multi-touch screen, which is a touch-sensitive screen with multi-finger gesture recognition.
  • the touch screen capacitive or optical effect, at the same time recognizes run multiple Be ⁇ emotions, typically with a person's fingers, allowing more control methods can be used as in systems that can detect only a single point of contact at the same time.
  • multi-touch screens can also be activated by other means, for example by touching the multi-touch screen with a stylus, which is also referred to as stylus or "stylus".
  • Multi-touch screens as such are generally be ⁇ known and may be, for example, according to 7,663,607 out forms ⁇ US B2.
  • the mobile terminal can in particular a
  • the terminal control of the mobile terminal may be formed by a proprietary operating system or an open operating system, and may include a computer program configured to control a robot.
  • a sol ⁇ ches computer program may be the actual robot control software or may be a shell that is designed to input and transmit information manually entered on the actual robot control software. In such a case, the robot control software may proceed at ⁇ play in the overall physically separated from the mobile terminal robot controller.
  • the mobile terminal in turn may be connected by control technology in the present appli ⁇ dung, for example with the robot controller, such that by actuation of input means of the mobile terminal, the robot controller can be controlled to be controlled to move the robot arm or program.
  • a control connection between the robot controller and the mobile terminal may be an electrical connection.
  • the commands or signals that are transmitted to the robot controller via the mobile terminal can be transmitted using secure technology or non-secure technology.
  • the mobile safety basic control device with its safety-relevant operating functions, such as the emergency stop switching means, however, must always be securely connected to the Robotersteue ⁇ tion. In this configuration, the robot may otherwise be intuitively controlled and programmed via user individual graphical sur- faces of the touch screen with a very extensive functionali ⁇ ty.
  • the multi-touch screen of the mobile terminal accordingly forms a
  • Human-machine interface through which a person can Robo ⁇ ters control address may be represented on which multi-touch screen controlled by the robot controller displays and may be configured in which multi-touch screen input means, upon actuation thereof entspre ⁇ accordingly assigned functions and / can be triggered or conditions at the Robo ⁇ ters inflation, changes and / or stopped and activated or deactivated.
  • the mobile basic security control device has an encoder which is formed in a stored with ⁇ means of the holder to the mobile terminal state of the basic security control device at least one mobile basic security controller identifying identification code automatically via the multi-touch screen at the endpoint
  • the mobile security basic control device can be connected to the mobile terminals in a simple and secure manner.
  • the identification codes recognized by the mobile terminal via the multi-touch screen the correct and unambiguous assignment of the mobile security basic control device to the mobile terminal can take place, and consequently also to the robot control or to the robot.
  • the coding device according to the invention provides the correct and unambiguous assignment of the mobile security basic control device to the mobile terminal, the mobile terminal now authorized by the coding device can also be used for supplementary input actions.
  • Such additional input actions can be designed to be secure in that the input means are themselves coded or the input means is assigned a coding, and thus only authorized inputs can be made to the mobile terminal.
  • the coding device may comprise two, in particular three or more contact pins, which are in contact with the multi-touch screen in a state of the safety basic control device supported by the holder on the mobile terminal, namely in a specific areal arrangement representing the identification code two or more pins on the multi-touch screen.
  • the two or more contact pins are configured to activate corresponding surface elements on the multi-touch screen of the mobile terminal, in order to be able to perform or simulate a multiple contact at these points by means of the multi-touch screen.
  • the two or more pins are configured to drive the multi-touch screen, analogous to touching the multi-touch screen with two or more pins simultaneously.
  • the identification code can be generated by using and / or generating a certain number of contact pins by arranging the two or more contact pins at specific distances from one another and / or arranged in specific patterns which are located on the multi-contact pins. Touchscreen act and recognized by the terminal control, ie can be clearly identified.
  • the specific, the identification code resulting area arrangement of the two or more pins may thus be determined by the specific number of pins and / or by the specific distances of the two or more pins from each other and / or by a particular pattern of the arrangement of the two or more pins ,
  • the identification code which is represented by two or several ren contact pins, then the end ⁇ device control seen in particular only recognizable by the terminal controller when the mobile security stored basic control apparatus by means of the holder to the mobile terminal and / or attached.
  • the holder can be designed for the manually releasable attachment of the mobile security basic control device to the mobile terminal.
  • the mobile security basic control device can therefore be removed as often as desired from the mobile terminal ⁇ and also attached or attached again, in particular without requiring tools.
  • the two or more contact pins are not in contact with the multi-touch screen of the mobile terminal and can accordingly be in the removed state of the mobile security device.
  • the Basic control device does not affect the multi-touch screen, so that in the detached state, the mobile security basic control device is not recognizable by the terminal control.
  • the holder can be formed by a groove formed in the housing of the mobile safety basic control device, which has a first groove wall, which in one on the mobile base mounted state of the safety basic control device covers a portion of the multi-touch screen, wherein on the first groove wall, the two or more contact pins are arranged so that they can be in touching contact with the covered portion of the multi-touch screen, and the groove has a second groove wall opposite the first groove wall, which rests in a mounted on the mobile terminal state of the safety floor control device on a multi-touch screen opposite back of the mobile terminal to hold the safety basic control device to the mobile terminal.
  • the housing may have a rod-shaped basic shape.
  • the housing may have a cylindrical, in particular nikzylindri ⁇ cal shell wall and having a corresponding ceiling wall and bottom wall.
  • the emergency stop switching means may be arranged on the ceiling wall.
  • the groove may be formed in the jacket wall of the housing.
  • the mo ⁇ bile safety basic control device can be infected at an edge portion of the mobile terminal.
  • the mobile security basic control device can surround the edge section of the mobile terminal in such a way that the mobile security basic control device covers a section of the multi-touch screen.
  • the groove may have a residual device which can cooperate with a counter-locking device, which may be attached to the mobile terminal, so that in an infected state of the mobile security basic control device on the edge portion of the mobile terminal, the mobile safety basic control device positively and is rigidly connected to the mobile terminal.
  • the mobile security basic control device can also be non-positively connected, for example by terminals with the mobile terminal.
  • Such a clamping can be generated by utilizing elasticity between the mobile security basic control device and the mobile terminal, in particular by utilizing elasticity between two opposite groove surfaces of the groove of the mobile security basic control device and the surfaces of the mobile terminal.
  • Basic control device regardless of the shape, size, the model and / or the manufacturer of the mobile terminal at each edge portion or edge of the mobile Endge ⁇ device, in particular also be attached to a corner of the mobile terminal.
  • the holder can be designed to adjustably store the mobile security basic control device at an edge section of the mobile terminal.
  • the mobile security basic control device at an edge section of the mobile terminal.
  • Basic control device to be stored on an edge portion of the mobile terminal adjustable so that the mobile security control device can be removed from a certain point of the edge portion of the mobile terminal and attached to another location of the edge portion of the mobile terminal again.
  • the holder can also be configured to displaceably mount the mobile security basic control device along the edge section of the mobile terminal.
  • the holder can have a guide groove extending parallel to the edge section in a state of the mobile safety basic control device attached to the mobile terminal, said guide groove having a bar corresponding to the guide groove cooperates at the mobile terminal, such that the mobile basic security controller rail-like or kulis- mustard EADERSHIP manner at the mobile terminal parallel to the edge ⁇ portion slidably mounted on the mobile terminal and is overall results.
  • the holder can also be designed to rotatably support the mobile safety basic control device on the mobile terminal.
  • the holder can be designed to form a pivot joint between the mobile security basic control device and the mobile terminal, so that the mobile security basic control device is indeed mounted on the mobile terminal, but can be rotated relative to the mobile terminal.
  • the mobile security home control device may include a manual actuation means configured to move the two or more contact pins in contact with the multi-touch screen in response to manual actuation of the actuation means on the multi-touch screen.
  • a manual actuation means configured to move the two or more contact pins in contact with the multi-touch screen in response to manual actuation of the actuation means on the multi-touch screen.
  • Such two or more contact pins ⁇ of the actuating means can in particular can form at fixed contact pins which are the extent independent of a position of the actuating means and Renz pins unique refer- addition, at the mobile security
  • Both the two or more contact pins of the actuator, as well as the fixed contact pins touch the multi-touch screen. For example, it is possible to differentiate between an (accidental or unwanted) adjustment, in particular rotation of the mobile security basic control device on the multi-touch screen of the mobile terminal and an actuation, in particular rotation of the actuating means.
  • the fixed contact pins, in particular the reference pins thereby ensure a secure assignment of the mobile security basic control device and the mobile terminal.
  • the two or more contact pins of the actuating means include information about the position of the actuating means both with respect to the multi-touch screen, as well as with respect to the housing of the mobile safety basic control device.
  • the two or more ⁇ ren contact pins are in a basic embodiment in which the two or more contact pins are rigidly fixed to the mobile security basic control device defined initially at a fixed Touchingly connected to the location of the multi-touch screen. If the mobile security base control device is adjustably, particularly rotatably or slidably mounted on the mobile terminal, then in the basic embodiment in which the two or more contact pins are rigidly attached to the mobile security base control device, the two or more contact pins touchingly adjustable on the multi-touch screen, in particular rotatable or displaceable.
  • the mobile security basic control device can not only be positioned at a firmly defined location or at various discrete, freely selectable locations of the mobile terminal, but can also be freely positioned at the entire edge area of the mobile terminal, in particular positioned by displacement. With ei ⁇ ner such adjustment and / or shift the interface design also displayed on the multi-touch screen can adjust or change accordingly.
  • the mobile security device can safety basic control device to be rigidly attached to the mobile terminal and yet the two or more contact pins on the multi-touch screen are moved touching by pressing the manual operating means.
  • the two or more Kunststoffstif ⁇ te may then be adjusted at the multi-touch screen even when the housing of the mobile base security control apparatus befes- at the mobile terminal is rigidly Untitled.
  • the manual actuating means can be rotatably mounted on the housing of the mobile security device.
  • the manual actuating means may be a rotary control in this respect.
  • the manual actuation means can be displaced on the overall housing of the mobile basic safety control device to be stored.
  • the manual actuating means can be a slider to that extent.
  • the coding device can, in addition to the two or more contact pins, which are formed in a state of the security basic control device stored on the mobile terminal by the holder, send the at least one identification code identifying the mobile security basic control device to the endge via the multi-touchscreen - councils control to be transmitted, additional contact pins aufwei ⁇ sen, which are in contacting connection with the multi-touch screen, and are formed to form a pattern in Ab ⁇ dependence of its position and / or angular position on the multi-touch screen one of the respective Position and / or win kel ein assigned information to the terminal control transmitted.
  • additional contact pins may be present in order to be able to provide additional functions in addition to a coding.
  • the further contact pins form a pattern that transmits depending on its position and / or angular position on the multi-touch screen one of the respective position and / or angular position associated information to the terminal control, for example, in the Endgerä ⁇ te control of the mobile Terminal software programmed and displayed on the multi-touch screen software slider and / or software knob by moving and / or rotating the mobile safety basic control device or its actuating means these software sliders and / or software rotary control can be adjusted.
  • a total of six software rotary encoders can be programmed in the terminal control and displayed on the multi -touch screen, which represent, for example, the six degrees of freedom, ie the six hinges or the six axes of a six-axis robot.
  • the mobile security basic control device can be attached to one of the six representations of the software rotary control, which is activated by means of the identification ⁇ codes with the attaching exactly this one axis of the six-axis ⁇ robot for manually commanded moving and the other five software knob that are not provided with the mobile security basic control device remain disabled.
  • the angular position value of the activated axis of the robot can now be changed, for example changed in a robot program, and possibly also the actual axis position of the relevant joint of the robot (simultaneously ) is set, that is, the robots are moved ent ⁇ speaking, which then responds ent ⁇ a hand driving operation.
  • the mobile security basic control device By manually moving the mobile security basic control device, it is possible, for example, to switch from an activated software rotary control to another software rotary control to be activated.
  • the terminal controller may also be programmed such that scrolling of the mobile security base control device attached to the mobile terminal or by turning the operating means of the mobile security basic control device may scroll in a software menu displayed on the multi-touch screen.
  • Such scrolling in a software menu can take place in a modified embodiment instead of by turning, but also by shifting the mobile security basic control device attached to the mobile terminal.
  • a programmed path or to be programmed path can be set, such as a Geschwin ⁇ speed, a path parameter or a parameter of rigidity of the robot.
  • text input can also be transmitted to the terminal control and consequently to the robot control, for example if the mobile safety control device and / or the final control device control in the manner of a known, technical language "jog dial" trained, in particular programmed, in which by turning or shifting successively displayed letters or numbers of the desired letter or the desired number can be selected.
  • the further contact pins can be arranged in a special embodiment on a manually rotatable gela ⁇ siege in the housing turntable, which only partially or possibly completely overlaps the multi-touch screen, such that depending on the angular position of Drehschei ⁇ be, a different subset of the other contact ⁇ pins in touching connection with the multi-touch screen is and the respective complement of other Kon ⁇ tact pins outside the multi-touch screen or are at least not in touch with the multi-touch screen in touch.
  • a different subset of the other contact pins is in touching contact with the multi-touch screen and the respective complement of the other pins outside the multi-touch screen, can from the number and the location or orientation of each currently on the multi-touchscreen active pins a desired In ⁇ formation or action can be read by the terminal control via the multi-touch screen.
  • the angular position of the turntable can be determined by comparing the positions and / or positions of the further contact pins on the multi-touch screen with respect to the reference pins fixed on the multi-touch screen, in particular automatically.
  • the safety basic control device may alternatively or in addition to a described manual actuating means a manual input means, which is designed to bring in a first input means position, the further contact pins in a touching connection with the multi-touch screen and to solve in a second input means position, the touching connection between the further contact pins and the multi-touch screen.
  • the basic security control means may comprise a manual input means with three consecutive input ⁇ middle positions, with dissolved a first group of further contact pins and a second group of further contact pins of a contact connection to the multi-touch screen at the second input means position are in the third input means position, the first group of further contact pins in contact with the multi-touch screen in contact and the second group of further pins from a touching connection to the multi-touch screen is solved, and in the first input means Stel ⁇ ment the first group of further contact pins and the second group of further contact pins with the multi-touch screen in touching contact.
  • the extent three-step manual input means can play, form a permissive of the robot at ⁇ .
  • the second input middle position in which a first group of further contact pins and a second group of further contact pins are detached from a touching connection to the multi-touchscreen, form a switching position of the enabling button, which signals that the robot is not released for movement is.
  • the third input middle position in which the first group of further contact pins is in touching contact with the multi-touch screen and the second group of further contact pins is in contact with the multi-touch screen. Touchscreen is solved, it can form a switching position of the enabling button, which signals that the robot is now released for moving.
  • the first input middle position in which the first group of further contact pins and the second group of further contact pins are in touching contact with the multi-touch screen, can form a switching position of the enabling button, which corresponds to a known panic switching position and This means that the user has been too frightened to press the consent key, which indicates in sequence that the robot should be stopped, ie stopped.
  • the two or more contact pins and / or the further contact pins can be brought into touching contact with the multi-touch screen by a mechanical pressing of the respective contact pins on the multi-touch screen and a release of the touching connection can be achieved by mechanically removing the contact pins of the multi - Touchscreen done.
  • the mobile security home controller may include a multi-dimensional actuator or a multi-dimensional input device.
  • the actuating means or a ⁇ input means for example, be designed as a joystick, a 3D mouse or a 6D mouse.
  • the mobile safety basic control device can additionally comprise a light ring constructed from a plurality of individually controllable light segments and the mobile safety basic control device can be set up as a function of one through the two or more contact pins and / or the further contact pins via the multi-touch screen to the terminal device. Control transmitted switching state, the individual light segments of the light ring special fish to drive.
  • the light segments can be formed for example by LEDs.
  • the invention accordingly also relates to a method for establishing a uniquely assigned control connection between a mobile security basic control device, in particular a mobile security control device.
  • a development of the method has the step:
  • the identification code in the form of a specifi c see planar arrangement of several touch points of contact on the multi-touch screen of the mobile terminal, in particular characterized by the number of touch touch points, the relative locations to each other of a plurality of touch touch points, and / or the orientation of a group of a plurality of touch touch points contacting the multi-touch screen of the mobile terminal.
  • the mobile security basic control device can be wired or wireless, each with secure technology, in particular according to EN ISO 10218-1 be connected to the robot controller. If the mobile security ground control device is removed from the configured environment of the robot controller, this results in an emergency stop of the robot, the robot cell and / or the robot system, unless it has been previously safely logged off by a suitable method.
  • the basic mobile safety control device can also have additional basic functionalities in addition to the essential basic operating elements such as emergency stop, confirmation button, and program start button. These could, for example, other buttons for
  • Its programming functions for teaching the robot and especially a small display for displaying status ⁇ messages, menu items or options include.
  • a selection can also be made by a combined rotary-push button.
  • There may also be an optical display means, such as a light source, for example an LED, a light ring and / or a light strip for display.
  • the aim is not to provide the base control unit with a mög ⁇ lichst high degrees of functionality, but minimalist and inexpensive ensure a simple and intuitive Basic Operation.
  • the mobile terminal with its individual and big extensible functionality such as the Fal ⁇ le tablet computer, the user interface of the multi-touch screens, a very high functionality and for the loading diener a high temporary value to the robot when performed here include sophisticated programming, makeready or service should be.
  • the mobile safety basic control device can have only one single additional input device in addition to an always present emergency stop button in a special embodiment.
  • This only additional Eingabemit ⁇ tel can be the enabling switch.
  • a single input pair can be provided which can be used universally and can situational possess ⁇ switchable function.
  • the mobile security basic control device has a secure wire or wireless connection to the robot controller and can be manually coupled by the user to any mobile device, such as ⁇ a tablet computer mechanically.
  • the mobile safety control device on the edge of the tablet computer or a smartphone so ange ⁇ be clamped that it encloses the top and bottom of the tablet computer or the smartphone.
  • the mobile security basic control device not only rests on the edge or the frame of the tablet computer or the smartphone or is clamped to this edge or frame, but that the mobile security basic control device and a subsection of the multi-touch screen surmounted, so that the coding ⁇ device, in particular the two or more contact pins of the mobile safety basic control device can touch the multi-touch screens on this section.
  • the coding surface which can be formed by the two or more contact pins , can consist of a geometrically defined arrangement of two or more elevations, which can easily be electrically charged and conductive.
  • the two or more contact pins can be sprung in the axial direction, ie in the longitudinal extension of the contact pins, so that a secure contact of the pins on the multi-touch screen is always guaranteed.
  • a clamping force on the top of the multi-touch screen can be exerted over a remote area adjacent the contact pins.
  • These surveys can be recognized, for example, by a capacitive multi-touch screen. Modern and widespread multi-touch technology, all surveys are recognized both quantitatively and in their position. A continued normal touch operation on the not by the mobile security
  • the unique identification code in particular the coding ⁇ pattern, for example, resemble a simplified QR code, which code pattern can not be mimicked by corresponding Drue ⁇ CKEN of the multi-touch screen with your fingers.
  • the contact pins of the coding device may be so close to each other that they are closer together than a narrow fingertip is wide.
  • the coded operation of the multi-touch screen with the aid of the special coding surface is also referred to below as Code Touch Called functionality. This results in very advantageous ⁇ exemplary basic characteristics of the invention.
  • the tablet computer or the smartphone By detecting the coding surface on the tablet computer or on the smartphone, it can be ensured that the tablet computer or the smartphone is currently equipped with the necessary safety devices, such as the emergency stop button. This allows functions and virtual buttons on the user interface of the multi-touch screen to be enabled, allowing manual operation of the robot.
  • the mobile security basic control device In addition to the detection of the fact that the mobile security basic control device is coupled to the mobile terminal, it can also be recognized at which point of the multi-touch screen the mobile security basic control device has been connected to the mobile terminal. This can mean that a graphical representation on the multi-touch screen can change, adapt and / or change, depending on where the mobile security basic control device is attached to the mobile terminal. This is detected automatically by means of the coding surface, in particular the coding pins.
  • the surface of the mobile terminal responds to the docking ⁇ stand and the docking position of the mobile safety basic control device and can certain functions
  • Basic control device to be assigned different functions.
  • a quick moving or moving the mobile security basic control device to another position on the edge of the tablet computer or the smartphone can automatically change the function of the hardware button of the mobile security basic control device.
  • a rotary or tilting button then moves, for example, always that axis on the Dis play area ⁇ the coding device, ie the contact pins o- rests on the coding surface. The same applies to moving the robot arm in the Cartesian coordinate system.
  • the travel speed can be set during the manual procedure of the robot or in test mode via the hardware button.
  • the hardware input element it is also possible to use the hardware input element in order to start and stop the program sequence in test mode.
  • parameter settings can be adjusted with the mobile security basic control device on the multi-touch screen of the tablet computer or the smartphone.
  • An adjustment of parameters and their relation to the associated limit values can either be visualized on the mobile safety basic control device or on the display of the multi-touch screen of the tablet computer or of the smartphone at ⁇ example by means of a visual display device, ie displayed ,
  • the mobile security basic control device with a multi-dimensional input Medium for example with a combination of rotary push movement or with a 3D / 6D mouse
  • other functions such as multi-dimensional moving the robot arm or a mobile platform can be realized. This is done by activating this function as soon as the coding surface is detected on the appropriate display surface of the multi-touch screen of the tablet computer or the smartphone.
  • Variations in the arrangement of the contact pins on the coding surface enable different input devices to be recognized by the tablet computer or the smartphone and the associated robot cell to be uniquely assigned.
  • the Kodierflä ⁇ che thus acts as unique as a fingerprint.
  • Basic control device along an edge of the mobile terminal possible, which can be used as a slider.
  • actuation may be accomplished not only via the touch display but also through separate hardware buttons of the mobile security home controller with ideal haptic feedback. Nevertheless, the touch screen is used for identifying and switching between functions and for detecting the connection of the individual mobile security basic control device.
  • the coding surface according to the invention can also be used to construct passive push-buttons based on the already existing design of software buttons on the mobile safety control device.
  • buttons press directly on the multi-touch screen and activate the corresponding command below.
  • a coding surface can also be used which, according to the key / lock principle, only releases the respective function if it is activated via the mobile security basic control device on the multi-touch screen.
  • buttons can be displayed on the multi-touch screen.
  • a mechanical, for example, rubber-like probe with a plurality of contact pins, which are directed to the multi-touch screen can be pressed by Benut ⁇ zer so that all pins touch the multi-touch screen.
  • the complete coding of the contact pins detected by the terminal controller then enables the drives of the robot.
  • Another press panic mode either presses additional pins on the multi-touch screen or alternatively lifts off some of the pins that are already resting so that in both cases the coding changes in panic mode and the release of the drive of the robot is canceled. When you release the button, all the pins on the multi-touchscreen lift off.
  • Basic contact pins can be located with the on ⁇ couple of mobile security basic controller to the mobile terminal is constantly in contact with the multi-touch screen already, even if no buttons on the mobile security basic controller is betätig. These basic contact pins signal the presence of the mobile security land controller to the mobile terminal and uniquely identify the robot that is dedicated to the mobile security land controller.
  • buttons or switches in safe technology or multi-dimensional input means may optionally be present, as well as rotary dials, for example, with absolute value detection of the angular position.
  • the Force Touch technology of the latest touch screens can be used, which can differentiate between different pressures on the touchscreen. In contrast to conventional multi-touch technology, this technology still has a much lower local resolution on the multi-touch screen.
  • the mobile security home control device according to the invention can make it possible to use generally known mobile terminals, such as smartphones and tablet computers, which have a multi-touch screen, with robot-specific security functionality.
  • the established multi-touch functionality of smartphones and tablet computers is used in order to identify and locate a docked mobile security basic control device safely, clearly and automatically via special coding surfaces, in particular the contact pins.
  • the user interface and the functions of the hardware input element can display differently on the multi-touch screen on the currently selected posi ⁇ tion of mobile security basic controller.
  • FIG. 1 is a schematic representation of a robot aufwei ⁇ send a robot arm and a robot controller, as well as an exemplary embodiment of a mobile safety basic control device according to the invention
  • FIG. 2 is a perspective view of the mobile safety basic control device in a unique position from above
  • Fig. 3 are perspective views of the mobile safety ground controller both from above and from below
  • Fig. 4 is a perspective view of one exemplary mo ⁇ bilen terminal in the form of a tablet computer with the mobile basic security control apparatus in a state attached to the mobile terminal
  • Fig. 5 is a sectional view of a portion of the mobile
  • Basic control device is mounted on the mobile terminal
  • FIG. 6 shows a first embodiment of the mobile terminal in which the terminal controller is designed to display robot axes on the multi-touch screen that can be set by the mobile security basic control device,
  • FIG. 7 shows a second embodiment of the mobile terminal, in which the terminal control is designed to display a menu on the multi-touch screen, in which the
  • Menu or a menu item can be selected by the mobile security basic control device,
  • FIG. 8 shows a third embodiment of the mobile terminal in which the terminal control is designed, a robot program with program steps on the multi-user terminal.
  • Display a touchscreen in which the robot program or a program step can be selected by the mobile safety basic control device
  • 9 shows a fourth embodiment of the mobile terminal, in which the terminal control is designed to display a speed bar or a slider on the multi-touch screen, wherein the speed bar or the slider can be adjusted by the mobile security basic control device .
  • FIG. 10 shows a variant embodiment of the mobile terminal in which the mobile security basic control device is mounted in a manner of a slide linearly adjustable on the mobi ⁇ len terminal,
  • Fig. 12 is a schematic representation of the input means
  • Fig. 13 are schematic representations of a turntable
  • Fig. 14 are schematic representations of a three-stage
  • FIG. 15 are schematic side views of the designed as a three-stage ⁇ ger enabling switch input means as shown in FIG. 14 in its three possible Eingabeschstel- lungs
  • FIG. 16 shows schematic side views of a modified embodiment of the input device designed as a three-stage enabling switch according to FIG. 14 in its three possible input middle positions.
  • FIG. 1 shows a robot 1 having a robot arm 2 and a robot controller 12.
  • the robot arm 2 comprises, in the case of the present embodiment a plurality of sequentially arranged and connected by means of joints 13 members 14.
  • the members 14 are, in particular to a frame 3 and a to the frame 3 extending relative thereto about a ver ⁇ vertically axis AI rotatably mounted carousel 4.
  • FIG. 1 Further members of the robot arm 2 are in the case of vorlie ⁇ ing embodiment, a rocker arm 5, an arm arm 6 and a preferably multi-axis robot hand 7 with a flange 8 designed as a fastening device for attaching an end effector, not shown.
  • the rocker 5 is pivotally mounted at the lower end, for example on a swing bearing head not shown on the carousel 4 about a preferably horizontal axis of rotation A2.
  • At the upper end of the rocker 5 is in turn about a likewise preferably horizontal axis A3 of the arm support 6 pivotally ⁇ bar stored. This end carries the robot hand 7 with its preferably three axes of rotation A4, A5, A6.
  • the arm extension 6 has an arm housing 9 which is mounted pivotably on the rocker 5.
  • a Handgroundge ⁇ housing 10 of the arm arm 6 rotatably gela ⁇ siege about the axis A4.
  • the robot arm 2 is movable by means of three electric drive motors 11 in its three basic axes and by means of three further electric drive motors in its three hand axes.
  • the robot controller 12 of the robot 1 is designed or implemented to execute a robot program, by means of which the joints 14 of the robot arm 2 can be automated according to the robot program or can be automatically adjusted or rotated in a manual operation.
  • the robot control ⁇ 12 is connected to the controllable electric drive motors 11, which are designed to adjust the joints 14 of the robot arm 2.
  • a mobile security property control device 15 is connected in terms of control technology.
  • FIGS. 2 to 16 show the mobile safety basic control device 15, the handheld housing 16, an emergency stop switching device 17 arranged on the housing 16, a communication device 18 for the control technology connection of the mobile safety basic control device 15 to the robot control 12 (Fig. 1).
  • the mobile safety basic control device 15 has a holder 19 connected to the housing 16.
  • the holder 19 is configured to support the mobile security base control device 15 on a mobile terminal 20 (FIG. 4).
  • the mobi ⁇ len terminal 20 has a terminal controller 21 and a multi-touch screen 22nd
  • the multi-touch screen 22 is designed to transmit inputs, ie information, data via the multi-touch screen 22 to the terminal controller 21.
  • the holder 19 is formed by a groove 23 formed in the housing 16 of the mobile safety basic control device 15, which has a first groove wall 23 mounted on the mobi ⁇ len terminal 20 state, as shown in Fig. 4 and Fig. 5, the basic safety control device 15 covers a portion of the multi-touch screens 22nd
  • the groove 23 also has one of the first groove wall 23.1communo- de second groove wall 23.2, which in a mounted on the mobile terminal 20, ie infected state of the safety basic control device 15, as shown in particular in Fig. 4 and Fig.5, on a the multi-touch screen 22 opposite back 24 of mobile terminal 20 is applied to hold the security basic control device 15 to the mobile terminal 20.
  • Basic control device 15 a coding device 25 which is formed in a stored by means of the holder 19 on the mo ⁇ bile terminal 20 state of the mobile safety basic control device 15, as shown in particular in Fig. 4 and Fig. 5, at least one mobile security basic control device 15 identifying identification code automatically via the multi-touch screen 22 to the terminal controller 21 to transmit.
  • FIG. 3 shows in the uppermost illustration the mobile security basic control device 15 according to FIG. 2 in a view from above.
  • the emergency stop switching means 17 On the upper side of the mobile safety basic control device 15 is the emergency stop switching means 17.
  • the mobile safety basic control device 15 shown in FIG. 2 is turned upside down, ie the emergency stop switching means 17th points downwards and a floor surface 26 of the mobile safety master control device 15 points upwards.
  • three exemplary coding devices 25 are shown which have under ⁇ Kunststoffliche identification codes.
  • the difference ⁇ union identification codes are formed in the case of the present embodiment by differently on an inner surface 27 of the mobile basic safety control device 15 arranged contact pins 28th
  • a plurality of contact pins 28 are accordingly angeord ⁇ net on the first groove wall 23.1, such that they are in touching contact with the covered portion of the multi-touch screen 22, as shown in particular in Fig. 5, when the mobile security basic control device 15 is mounted on the mobile terminal 20.
  • the encoder 25 thus has two or meh ⁇ eral contact pins 28 in a means of the holder
  • Base control device 15 to store at an edge portion 29 of the mobile terminal 20.
  • the holder 19 can be designed to adjustably mount the mobile safety basic control device 15 on the edge section 29 of the mobile terminal 20, as illustrated in the illustrations of FIGS. 6 to 9.
  • the mobile security basic control device 15 can be set by means of a user's hand 30 optionally at different locations of the mobile terminal 20 and removed again.
  • the holder 19 may be formed, along the edge portion 29 of the mobile terminal 20 to slidably la ⁇ like.
  • the holder 19 may have a state of the mobile security device attached to the mobile device 20.
  • the safety basic control device 15 in addition to the emergency stop switching means 17 manual actuating means 33 which are formed, two or more contact pins 28a, 28b depending on a manual actuation of the respective actuating means 33 in touching To bring connection to Mul ⁇ ti touch screen 22 or to adjust in their respective touching arrangement on the multi-touch screen 22.
  • an enabling switch and / or a turntable (rotary actuator) can be formed, as in more detail erläu ⁇ is tert in particular to Fig. 15 and Fig. 16.
  • the mobile basic safety control device 15 as shown particularly in FIG. 12 to FIG. 14 is more contact pins 28a, 28b which are in contacting Verbin ⁇ dung with the multi-touch screen 22, and formed a pattern to be formed, the Depending on its Posi ⁇ tion and / or angular position on the multi-touch screen 22 one of the respective position and / or angular position associated information transmitted to the terminal controller 21, as in particular in the Fig. 13 and Fig. 14 ver ⁇ is light.
  • the further contact ⁇ may pins 28a on a manually rotatable mounted in the housing 16 of the mobile safety ground controller 15 hub 34 may be arranged, which only partially overlaps the multi-touch screen 22, such that the function of the angular position Turntable 34, as shown schematically in the Representations of the Fig. 13 illustrates a difference ⁇ Liche subset of the further contact pins 28a in touch ⁇ the connection with the multi-touch screen 22 is stationary and the respective Komplementmenge of contact pins 28a out of the multi-touch screen 22 is located.
  • the basic safety control device 15 can be a manual input means 35 may have formed, to bring in a ers ⁇ th input center position A, the other contact pins 28b in a contacting connection with the multi-touch screen 22 and in a second input middle position C to release the touching connection between the further contact pins 28b and the multi-touch screen 22.
  • the security basic control device 15 can accordingly a manual input means 35 with three consecutive
  • Group of further contact pins 28b and the second group of further contact pins 28b are in touching contact with the multi-touch screen 22.
  • the mobile safety basic control device 15 as shown in particular in FIG. 2, has a light ring 36 made up of a plurality of individually activatable light segments 37 and the mobile safety basic control device 15 is set up in dependence on this. gation of one of the two or more contact pins 28 and / or the other contact pins 28a, 28b via the multi-touch screen 22 transmitted to the terminal controller 21 switching state, the individual lighting segments 37 of the LED ring 36 specifically to control.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de commande de base de sécurité mobile (15) d'un robot (1), comprenant un boîtier (16) pouvant être tenu dans la main, un moyen de commutation d'arrêt d'urgence (17) agencé sur le boîtier (16), et un dispositif de communication (18) pour la liaison par une technique de commande du dispositif de commande de base de sécurité mobile (15) à une commande (12) du robot (1). Le dispositif comprend également un support (19) relié au boîtier (16), qui est conçu pour porter le dispositif de commande de base de sécurité mobile (15) sur un terminal mobile (20). Le terminal comporte une commande (21) et un écran tactile multipoint (22), qui est conçu pour transmettre des demandes à la commande (21) du terminal par l'intermédiaire de l'écran tactile multipoint (22). Le dispositif de commande de base de sécurité mobile (15) comprend un dispositif de codage (25), qui est conçu pour transmettre automatiquement, une fois le dispositif de commande de base de sécurité mobile (15) porté sur le terminal mobile (20) au moyen du support (19), au moins un code d'identification identifiant le dispositif de commande de base de sécurité mobile (15) à la commande (22) du terminal par l'intermédiaire de l'écran tactile multipoint (21).
EP17723681.7A 2016-05-20 2017-05-12 Dispositif de commande de base de sécurité mobile comprenant un dispositif de codage pour un terminal mobile à écran tactile multipoint et procédé d'établissement d'une liaison de commande associée de façon univoque Withdrawn EP3458232A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016208811.4A DE102016208811B3 (de) 2016-05-20 2016-05-20 Mobile Sicherheits-Grundsteuervorrichtung mit einer Kodiervorrichtung für ein mobiles Endgerät mit Multi-Touchscreen
PCT/EP2017/061545 WO2017198580A1 (fr) 2016-05-20 2017-05-12 Dispositif de commande de base de sécurité mobile comprenant un dispositif de codage pour un terminal mobile à écran tactile multipoint et procédé d'établissement d'une liaison de commande associée de façon univoque

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EP3458232A1 true EP3458232A1 (fr) 2019-03-27

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EP17723681.7A Withdrawn EP3458232A1 (fr) 2016-05-20 2017-05-12 Dispositif de commande de base de sécurité mobile comprenant un dispositif de codage pour un terminal mobile à écran tactile multipoint et procédé d'établissement d'une liaison de commande associée de façon univoque

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US (2) US11597097B2 (fr)
EP (1) EP3458232A1 (fr)
CN (1) CN109153121B (fr)
DE (1) DE102016208811B3 (fr)
WO (1) WO2017198580A1 (fr)

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US20190160686A1 (en) 2019-05-30
CN109153121B (zh) 2022-05-03
CN109153121A (zh) 2019-01-04
WO2017198580A1 (fr) 2017-11-23
DE102016208811B3 (de) 2017-10-05
US20230091713A1 (en) 2023-03-23
US11597097B2 (en) 2023-03-07

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