EP3552064A1 - Vorrichtungen und verfahren zum koppeln eines tragbaren handbediengeräts mit einem manipulator - Google Patents
Vorrichtungen und verfahren zum koppeln eines tragbaren handbediengeräts mit einem manipulatorInfo
- Publication number
- EP3552064A1 EP3552064A1 EP17798101.6A EP17798101A EP3552064A1 EP 3552064 A1 EP3552064 A1 EP 3552064A1 EP 17798101 A EP17798101 A EP 17798101A EP 3552064 A1 EP3552064 A1 EP 3552064A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- manipulator
- portable handheld
- handheld terminal
- sensor
- light beam
- 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- Withdrawn
Links
- 238000010168 coupling process Methods 0.000 title claims abstract description 92
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 83
- 230000008878 coupling Effects 0.000 title claims abstract description 82
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000003287 optical effect Effects 0.000 claims abstract description 36
- 230000005855 radiation Effects 0.000 claims description 15
- 239000007787 solid Substances 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000003213 activating effect Effects 0.000 claims description 4
- 239000003086 colorant Substances 0.000 claims description 3
- 230000000737 periodic effect Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 claims description 2
- 238000003032 molecular docking Methods 0.000 claims 1
- 238000012790 confirmation Methods 0.000 description 6
- 238000005286 illumination Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
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- 238000004891 communication Methods 0.000 description 1
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- 238000002372 labelling Methods 0.000 description 1
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- 238000011089 mechanical engineering Methods 0.000 description 1
- 238000001208 nuclear magnetic resonance pulse sequence Methods 0.000 description 1
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Classifications
-
- 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
- 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
- G05B2219/39432—Direct robot control, click on mouse on variety of display command buttons
-
- 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
- G05B2219/39443—Portable, adapted to handpalm, with joystick, function keys, display
Definitions
- the present invention relates to devices and methods for coupling a portable handheld device to a manipulator.
- a manipulator in particular a manipulator for industrial applications, is a freely programmable, program-controlled handling device.
- the handling device and its control together form a unit, which is referred to below as a manipulator.
- Manipulators are used in many manufacturing processes, e.g. used in vehicle and mechanical engineering. In this case, several stationary or mobile manipulators are often arranged in a certain work area, a so-called cell.
- Program control of the manipulators via programs recorded in the manipulator control.
- a remote control can be used to train one or more manipulators.
- each manipulator may have its own portable hand-held operating device, such as a handheld.
- SmartPad or there is a portable handheld for a plurality of manipulators.
- the manipulator to be addressed by the portable hand-held unit must be uniquely associated with this portable hand-held unit prior to the start of the control, i. be coupled with this.
- Some coupling methods include selecting a manipulator from a list of manipulators at or at a network control interface
- CONFIRMATION COPY Pendant Other methods are contactless methods by means of RFID or QR scan at a specific location in the cell or on the manipulator.
- WO 2006/096695 A2 shows a system with at least one teaching device for
- Manipulators where the teaching device is connected to a network. Connected to the network is also a plurality of programmable controllers for controlling manipulators.
- the teaching device is coupled to one of the controllers by registering the teaching device over the network on the controller. A user can make the selection for the coupling by means of a graphical user interface.
- WO 2009/097895 Ai shows a system with a teaching device for manipulators, which can be connected simultaneously with two or more controllers. Once a connection has been made between the teaching device and the controllers over a network, a user can select multiple controllers for manual control using the teaching device. The selection is done via a graphical user interface. It is the object of the present invention to provide apparatuses and methods with which an intuitive, fast and unmistakable coupling of a portable handheld terminal with a manipulator can be made. 3. Summary of the invention
- a portable handheld terminal according to claim 1 a portable handheld terminal according to claim 7, a sensor according to Claim 8, a coupling display means according to claim 17, a system according to claim 19 and a method according to claim 20.
- the object is achieved by a portable handheld terminal for remotely controlling a manipulator, wherein the portable handheld terminal has an optical radiation source for generating a collimated light beam, and wherein the collimated light beam for coupling the portable
- Handheld terminal is set up with a manipulator.
- Manipulators allow flexible working with the manipulator regardless of a user's position. By changing its position, the user can always get the best view of the manipulator or workpieces to be machined by the manipulator.
- An optical radiation source for generating a collimated light beam has the advantage that a user sees directly with which sensor and consequently with which manipulator he is currently coupling his portable handheld terminal.
- the bundled light beam acts like a pointer. The user can simply and intuitively light up the desired sensor and thereby initiate and carry out a coupling between the portable handheld terminal and the corresponding manipulator. The user thus spares himself an often cumbersome and time-consuming selection of a manipulator from menus and / or lists.
- Infrared coupling process recognizes a user here directly with which manipulator he receives a coupling. This prevents unwanted
- the collimated light beam has certain properties, such as e.g. a certain wavelength or a particular pulse sequence, whereby the light beam used to couple the portable handheld with a
- the optical radiation source is a laser light source.
- Laser light is a monochromatic bundled light beam. The laser light beam can be directed to a certain point in space and is thus for a
- Embodiment of the present invention suitable.
- the compact size of laser light sources e.g. of laser pointers, allows an arrangement of the laser light source in a small space, e.g. in a portable
- the laser light source can generate a pulsed light beam with which, for the purpose of coupling, data can be transmitted from the portable handheld to the manipulator.
- a pulsed light beam may e.g. be generated by temporal changes in the intensity of a continuous light beam or by turning on and off the continuous light beam.
- the pulsed light beam can digitize data transmitted. With the aid of this transmitted data, e.g. additionally identify a portable HMI device.
- Manipulator control relevant data to be transmitted optically By optical data transmission, unlike e.g. at
- Radio data transmission method the data transmission only between the portable handheld and the manipulator instead.
- the user thus immediately and intuitively recognizes with which manipulator he is currently exchanging data and prevents unintentional coupling to a "wrong" manipulator.
- ⁇ br/> ⁇ br/> Preferably the bundled light beam is time-intensity-modulated and / or exhibits one of several possible different wavelengths.
- the use of different wavelengths of the collimated light beams on different portable handhelds allows for simultaneous use of multiple portable handhelds in the same spatial environment, ie, for example, in one cell
- the collimated light beams of the various portable handhelds can also be determined by their pulse rate and / or pulse duration can be distinguished. Thus, a clear and unmistakable assignment of portable handhelds is possible.
- the portable hand-held device has a gun-like shape
- the optical radiation source is located on the front of the hand-held portable device remote from the user, and the collimated light beam is emitted in a direction away from the user.
- the pistol-like shape and use of the portable handheld facilitates intuitive handling of the device and also makes it easier to aim with the focused light beam at a sensor.
- a user therefore does not necessarily have to be in the immediate vicinity, i. in less than a distance, stand to a manipulator, but can be from a safe distance, are recommended up to lom, couple the portable handheld with a manipulator. Due to the greater distance the user is also safe from the movements of the manipulator and can e.g. stand outside a cell.
- the optical radiation source is activated via a button which is arranged on a handle of the portable handheld terminal.
- the arrangement and function of the key resembles the trigger of a pistol and can therefore be easily and intuitively operated by a user.
- the key may also have the additional function of confirming a readiness for coupling which has been transmitted from the manipulator to the portable hand-held operating device.
- the invention also relates to a portable handheld terminal for remotely controlling a manipulator, the portable handheld terminal having a jogwheel, and wherein the jogwheel is for changing the selection of a manipulator that can be coupled to the portable handheld terminal.
- the jogwheel facilitates and accelerates the change in the selection of a manipulator by simply turning a wheel of the jog lever to the portable one
- Light beam from a light source on a portable handheld device can be omitted.
- the communication between the portable handheld and the Manipulator control, for selecting a manipulator, is preferably radio-based.
- the invention also relates to a sensor for detecting a collimated light beam of a portable handheld terminal, in particular one
- Laser light beam of a portable handheld terminal comprising: an optical sensor unit for detecting the collimated light beam; a
- Interface unit for connecting the sensor to a manipulator; wherein, upon receipt of a collimated beam of light from a portable handheld device by the optical sensor unit, the interface unit transmits a signal for coupling the portable handheld with the manipulator to the manipulator.
- the sensor is arranged to detect a collimated light beam, i. Light, such as a ceiling lighting, which strikes the sensor with a wide spread, is not interpreted as a coupling attempt by the sensor.
- the bundled light beam knows a much higher one
- the interface unit can provide a cable connection between the sensor and the corresponding one
- Manipulator which is a preferred visible connection. Through this visible connection, it is also visible to the user from a distance, which sensor is connected to which manipulator.
- the sensor further knows an input lens of the optical
- Sensor unit which has a beam entrance angle of at least 90 degrees, preferably at least 120 degrees, more preferably at least 160 degrees, more preferably of substantially 180 degrees solid angle.
- Input lens can be bundled light beams in a wide
- a sensor can capture and detect light rays in a wide range using the input lens.
- the sensor preferably has at least one optical filter which, depending on the characteristic of the captured bundled light beam, in particular with respect to the wavelength of the collimated light beam and / or pulse frequency of the collimated light beam, has different transmission values.
- the different transmission values of light of a filter depending on
- certain properties of the light allow only light with certain properties is detected by the optical sensor unit. For example, only certain handheld portable devices can be approved for control.
- the senor has additional fixed or rotating mirrors.
- An additional mirror optics can expand the solid angle range in which bundled light beams are detected. As a result, a sensor can be addressed from a larger solid angle range, which the
- the senor is rotatably mounted.
- a sensor is mounted in rotation, it can be bundled from a 360 degree solid angle range
- An entrance lens with a very narrow solid angle range which is arranged on a rotating sensor, also allows the determination of the position of a user.
- the direction of the opening angle of the entrance lens at which a collimated light beam was detected then gives the user's direction to the sensor or to the manipulator.
- the senor detects the direction from which the collimated light beam is incident.
- the recognition of the direction from which the collimated light beam came, can be done as just described by means of a rotating sensor. If this direction is known, the position of the user relative to the sensor or to the corresponding manipulator can be determined.
- the sensor is preferably set up, spatially removed from it
- the sensor further comprises a display means for displaying a detection of a collimated light beam at the optical sensor unit, wherein the collimated light beam is adapted for coupling the portable handheld terminal to the manipulator.
- the optical feedback on the detection of a collimated light beam makes it easier for a user to detect whether the light beam has been correctly aligned and the coupling is initiated. Since the user's gaze for directing the light beam is directed to the sensor, it is very advantageous also to give this feedback directly to the sensor.
- the optical light source on the portable hand-held device can be deactivated. This eliminates unnecessary unnecessary lighting of the sensor. This protects the optical sensor unit and the optical light source.
- the display means is a light ring surrounding the sensor, in particular an LED light ring. An LED light ring is special
- the invention also relates to a coupling indicating means for visualizing the coupling state of a portable hand-held operating device with a manipulator, wherein the coupling indicating means is a lighting means and is arranged on the manipulator.
- the visualization gives the user immediate information about the status of the manipulator, which simplifies the work.
- a lighting means also allows the detection of the condition with little or weak illumination of the environment.
- Coupling display means arranged directly on the corresponding manipulator is the user recognizes simply, quickly and intuitively the manipulator whose state is visualized there.
- the light source is a LED light ring encircling the manipulator in the foot area or in the hand area; and the bulb can glow in different colors; and / or the illuminant may illuminate at different intervals and with different intervals; wherein a slow periodic flashing or flipping of the light pulse along the luminous ring can signal that this manipulator is selected by means of the collimated light beam of a portable handheld terminal; and flashing the illuminant may signal that a coupling process between that manipulator and a portable hand-held device has been started; and a continuous lighting of the bulb can signal that this manipulator is coupled to a portable handheld device; wherein the color of the illuminant may match the color of a display on the portable handheld terminal (10).
- a circulating light source has the advantage that it can be seen from all sides. Aligning the bulb or even the manipulator is eliminated.
- the foot or arm area of a manipulator is also a distinctive area that is easily recognizable, which makes light bulbs easy to pick up on, increasing user comfort and safety.
- the different colors allow a further coding of the states of the manipulator or the coupling to a particular portable handheld terminal. The indication that a manipulator is being selected by a portable handheld allows the user to instantly see if the correct manipulator is being selected. If coupling with the manipulator currently being targeted is not desired, the coupling process can be aborted immediately. This saves time and avoids false couplings. Signaling that one
- Coupling process is started, gives the user feedback about the processes running in the controller.
- the user knows by the signal that his connection request is being processed. This increases the ease of use.
- the information about the lighting means that a manipulator is coupled, allows the user to work safely knowing that the user is working
- manipulator is ready to be controlled and the user also knows exactly which manipulator can be controlled.
- the color on the illuminant of the manipulator may still match the color of an indicator on the portable handset, which increases the labeling of the interaction between the devices. An accidental swap of the coupled devices in a plurality of devices can be excluded.
- the invention further relates to a system for coupling a portable hand-held device with a manipulator, comprising a portable
- Hand-held operating device according to one of claims 1 - 6, a sensor according to one of claims 7 - 15 and a coupling indicator means according to any one of claims 16 - 17.
- the system enables a simple, intuitive, clear and secure coupling of a portable handheld device with a manipulator.
- the coupling can be monitored in particular by the various display means.
- a coupling can be set up quickly and also quickly changed to another device. If a new connection to another manipulator is established, the existing connection automatically goes out.
- a portable handheld terminal is thus always clearly associated with a manipulator. This increases the operational safety.
- the invention further relates to a method for coupling a portable handheld terminal with a manipulator, comprising the following steps: activating an optical radiation source on the portable handheld terminal to generate a collimated light beam; Directing the collimated light beam to a sensor configured to detect the collimated light beam to establish a coupling of the portable handheld device to the manipulator to which the sensor is connected; Detecting the collimated light beam in the sensor and; Submit a
- Manipulator to the portable hand-held device allows the user to check again whether the manipulator was selected correctly before a coupling is generated and then a control of the manipulator can be performed. This review by the user also increases the reliability again.
- the method further includes confirming the coupling of the portable hand-held device to the manipulator by operating a button on the portable hand-held device.
- the confirmation completes the coupling of the portable handheld with the manipulator.
- the method further comprises displaying a detection of the collimated light beam in the sensor by a display means on the sensor and / or displaying a coupling state of the manipulator by means of a coupling indicator means on the manipulator.
- the steps of displaying the detection and / or the coupling state increase the
- the method further comprises detecting a beam direction of the collimated light beam by the sensor and determining from this beam direction a position of a user with respect to the manipulator. For example, by determining the position of the user relative to the manipulator, the manipulator can detect if the user is in the field
- the method further includes determining a correctly rotated coordinate system on a 6-dimensional mouse of the portable
- Handheld terminal in relation to the position of the user to the manipulator. Determining and transmitting a correctly rotated coordinate system to the portable hand-held device prevents user misregistration due to incorrect assumptions about the direction of movement of the manipulator. This prevents accidents and makes manipulator operation easier, more intuitive and faster. In addition, cumbersome settings omitted.
- Fig. 1 is a schematic representation of the coupling of a portable
- Fig. 2 is a schematic representation of a cell having a plurality of
- FIG. 3 is a schematic representation of a portable handheld terminal according to an embodiment of the invention.
- FIG. 4 is a schematic representation of two manipulators each having a sensor and a coupling indicator means according to an embodiment of the invention
- Fig. 5 is a schematic representation of the coupling of a portable
- Fig. 6 is a schematic representation of the remote control of a manipulator with
- FIG. 7 schematic representation of the coupling method of a portable
- Fig. 8 is a schematic representation of the change in the selection of a
- Manipulator which can be coupled with the portable hand-held unit, with the aid of a jog wheel attached to the portable hand-held control unit.
- FIG. 1 shows a user 2 who would like to couple a portable handheld terminal 10 with a manipulator 1.
- the user uses for this purpose a portable handheld terminal io, a sensor 20 and a
- Coupling display means 30 according to an embodiment of the invention.
- the distance of the user 2 to the manipulator 1 is preferably in a range of up to 10m. Since the coupling of the devices is made by means of an optical beam of light, an unrestricted view between the portable handheld terminal 10 and the sensor 20 must be ensured. However, since the handheld terminal 10 is portable, the user 2 is able to vary his position with respect to the sensor 20 and the manipulator 1, respectively, to make the visual contact.
- Fig. 2 shows a cell 3, in which a plurality of stationary and mobile manipulators 1 and the controller 4 are arranged. All manipulators 1 according to a Embodiment of the invention are provided with a sensor 20 and a
- Coupling display means 30 equipped. It is possible a portable
- Manual control unit 10 to control all manipulators 1 to use, but only one manipulator 1 is coupled to the portable handheld terminal 10 at the same time.
- the user 2 can for the coupling and the
- Control outside the cell 3 stand to ensure its safety.
- the user 2 may vary his position to avoid a possibly hidden, e.g. by a manipulator 1 in front, to reach sensor 20 also with the collimated light beam 12.
- the user 2 may also vary his position to move the display means to a sensor 20 or
- Fig- 3 illustrates eme embodiment of a portable hand-held control unit 10 according to the invention.
- the preferably pistol-like shape allows an intuitively correct holding and using the portable handheld terminal 10.
- the bundled light beam 12 is when properly holding the portable handheld device 10 forward, away from the user 2, and can by simple arm movements or pointing gestures on the corresponding sensor 20th be aligned.
- a laser light source is used, which may be, for example, a laser pointer, which can be provided very cheaply and easily nowadays.
- a laser light source can also be optionally set up as an accessory on a portable handheld terminal 10. In addition to a laser light source but would also z.
- B. an LED light source for generating a collimated light beam 12 conceivable.
- the confirmation of the coupling can be done via the same button, which already allows the activation of the optical radiation source on the portable handheld. But it can also be another button on the portable
- Handheld terminal can be arranged, which performs this confirmation function.
- the handle 15 of the portable handheld terminal 10 allows a simultaneous actuation of the at least one key 13 and an alignment of the portable handheld terminal 10. This increases the ease of use and facilitates the coupling, so that it is faster to carry out.
- This confirmation function can, as just described, but also with an at least second separate button, which can also be attached to the handle 15, are performed.
- the 6-dimensional mouse 16 at the top of the portable handheld terminal 10 then allows the control of the manipulator 1 in the coupled state.
- a jogwheel 17 is attached to the portable handheld terminal 10.
- the jogwheel 17 allows easy, sequential switching of the selection of a manipulator that can be coupled to the hand-held portable terminal 10 by operating, i. Turning the jog wheel 17.
- Fig. 4 shows two manipulators 1, which a sensor 20 and a
- Coupling display means 30 according to the invention.
- the equipment with a sensor 20 and a coupling indicator means 30 on the manipulators 1 is identical, so that they cost and easily at a variety of
- Manipulators 1 can be arranged. The dimension of the manipulators 1 does not matter.
- the coupling indicator means 30 should be well and easily recognizable attached to each manipulator 1 so that a user 2 can quickly and also from a greater distance to recognize the state of the manipulator 1.
- the sensors 20 should be arranged so that it is clearly recognizable to a user 2 to which manipulator 1 each individual sensor 20 belongs.
- the sensor should be visibly connected to the corresponding manipulator, so that a user recognizes which manipulator this sensor is assigned.
- the sensors 20 may be arranged spatially apart from their respective manipulator 1 in order to increase their visibility and accessibility with a collimated light beam 12.
- Input lens 22 on a sensor is preferably mounted on top of the sensor 20 for easy illumination with a collimated light beam 12.
- the beam input angle of the input lens 22 can be up to 180 degrees solid angle.
- Input lens 22 may also be narrower, which simplifies the optics of input lens 22 and directionality of the incident beam Light beam 12 allows.
- the interface unit 23, preferably a cable connection, should be as clearly visible as possible in order to make it easier for a user 2 to recognize the assignment of the sensor 20 to a manipulator 1.
- the optical sensor unit 21 is disposed in a sensor 20 to prevent inadvertent illumination with a collimated light beam 12.
- Fig. 5 shows the beginning of a coupling operation of a portable
- Handheld terminal 10 with a manipulator 1 according to an embodiment of the invention.
- the user 2 actively and willingly directs the bundled
- Other manipulators 1 remain unaffected by the coupling process. Only an existing coupling with another manipulator 1 would be resolved by this new coupling.
- FIG. 6 shows the control of a manipulator 1 with the aid of the 6-dimensional mouse 16 on the portable handheld terminal 10, which is coupled to the manipulator 1. If the position of the user 2 relative to the manipulator 1 has been determined, and a rotated coordinate system to the portable
- Hand-held device 10 has been transmitted from the manipulator 1, a user 2 can easily and intuitively control the Manipulatori using the 6-dimensional mouse 16.
- the user 2 should only be careful not to change his position too much, otherwise the coordinate system has to be adapted to the new position of the user 2.
- the control of the manipulator 1 by means of the portable hand control 10 can take place from a few meters away, preferably outside a cell, to ensure safe working.
- FIG. 7 illustrates the active and deliberate selection of the user with which manipulator 1 the portable handheld terminal 10 is to be coupled.
- the corresponding manipulator 1 is selected for coupling and the coupling process is started.
- FIG. 8 graphically illustrates the operation of the jog wheel 17 for sequentially selecting a manipulator 1 from a plurality of manipulators 1.
- the jogwheel 17 can be rotated clockwise or counterclockwise. Upon rotation, the selection of the currently selected manipulator 1 changes to the next manipulator 1, which is adjacent to the currently selected manipulator 1 in the selection sequence.
- the real position of the manipulators 1 to one another does not necessarily have to correspond to the sequence of the sequential selection.
- the direction of rotation can decide on the order of selection of the manipulators 1.
- the position of the manipulators 1 with respect to the position of the portable handheld terminal 10 in the direction of rotation, and thus in the order of selection of the manipulators 1, can be taken into account.
- the currently selected manipulator 1 is replaced by a corresponding
- Illumination on the coupling display means 30 and optionally optionally by means of display means on the portable handheld terminal 10 characterized. After a manipulator 1 has been selected, a coupling between the portable handheld terminal 10 and the manipulator 1 can be initiated. In a further embodiment, the portable handheld terminal 10 can already couple with the selection of the manipulator 1 with this.
- optical sensor unit input lens
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Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102016224693.3A DE102016224693B4 (de) | 2016-12-12 | 2016-12-12 | Vorrichtungen und Verfahren zum Koppeln eines tragbaren Handbediengeräts mit einem Manipulator |
PCT/EP2017/001328 WO2018108303A1 (de) | 2016-12-12 | 2017-11-14 | Vorrichtungen und verfahren zum koppeln eines tragbaren handbediengeräts mit einem manipulator |
Publications (1)
Publication Number | Publication Date |
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EP3552064A1 true EP3552064A1 (de) | 2019-10-16 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP17798101.6A Withdrawn EP3552064A1 (de) | 2016-12-12 | 2017-11-14 | Vorrichtungen und verfahren zum koppeln eines tragbaren handbediengeräts mit einem manipulator |
Country Status (3)
Country | Link |
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EP (1) | EP3552064A1 (de) |
DE (1) | DE102016224693B4 (de) |
WO (1) | WO2018108303A1 (de) |
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DE102018125266B3 (de) | 2018-10-12 | 2019-11-28 | Fachhochschule Bielefeld | Verfahren und Robotersystem zur Eingabe eines Arbeitsbereichs |
DE102022205884B4 (de) | 2022-06-09 | 2024-01-11 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung eingetragener Verein | System und Verfahren zur Aufnahme von Elementen eines Werkstücks mittels eines Zeigegerätes |
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EP1820611B1 (de) * | 2006-02-17 | 2008-10-08 | Abb Research Ltd. | Industrierobotersystem |
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CN104029207B (zh) * | 2013-03-08 | 2017-05-10 | 科沃斯机器人股份有限公司 | 自移动机器人激光引导行走作业系统及其控制方法 |
DE102014200066A1 (de) * | 2014-01-07 | 2015-07-09 | Spinner Werkzeugmaschinenfabrik Gmbh | Bediengerät für eine Werkzeugmaschine mit lageabhängiger Zuordnung von Bedienbefehlen zu einzelnen Bewegungsachsen der Werkzeugmaschine |
KR102412747B1 (ko) * | 2014-02-28 | 2022-06-27 | 삼성전자주식회사 | 청소 로봇 및 그에 포함되는 원격 제어기 |
AU2016101054A4 (en) * | 2015-09-09 | 2016-08-11 | Khurshudyan, Musheg MR | System for Controlling RC toy car using Laser Gun controller |
-
2016
- 2016-12-12 DE DE102016224693.3A patent/DE102016224693B4/de active Active
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2017
- 2017-11-14 WO PCT/EP2017/001328 patent/WO2018108303A1/de active Application Filing
- 2017-11-14 EP EP17798101.6A patent/EP3552064A1/de not_active Withdrawn
Also Published As
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WO2018108303A1 (de) | 2018-06-21 |
DE102016224693A1 (de) | 2018-06-14 |
DE102016224693B4 (de) | 2018-11-08 |
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