JP7421346B2 - 安全装置、自走式ロボットシステム、及び制御方法 - Google Patents

安全装置、自走式ロボットシステム、及び制御方法 Download PDF

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Publication number
JP7421346B2
JP7421346B2 JP2020005801A JP2020005801A JP7421346B2 JP 7421346 B2 JP7421346 B2 JP 7421346B2 JP 2020005801 A JP2020005801 A JP 2020005801A JP 2020005801 A JP2020005801 A JP 2020005801A JP 7421346 B2 JP7421346 B2 JP 7421346B2
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Japan
Prior art keywords
robot
area
detection area
traveling
predetermined detection
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Active
Application number
JP2020005801A
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English (en)
Japanese (ja)
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JP2021112783A (ja
Inventor
弘樹 国師
崇幸 伊賀
拓也 一瀬
領太 酒井
里紗 百田
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Kawasaki Motors Ltd
Original Assignee
Kawasaki Jukogyo KK
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Filing date
Publication date
Priority to JP2020005801A priority Critical patent/JP7421346B2/ja
Application filed by Kawasaki Jukogyo KK filed Critical Kawasaki Jukogyo KK
Priority to US17/791,921 priority patent/US12140956B2/en
Priority to PCT/JP2020/049187 priority patent/WO2021145220A1/ja
Priority to CN202080084721.9A priority patent/CN114786881B/zh
Priority to KR1020227026106A priority patent/KR102704668B1/ko
Priority to EP20914653.9A priority patent/EP4091773A4/en
Priority to JP2021097259A priority patent/JP7480089B2/ja
Publication of JP2021112783A publication Critical patent/JP2021112783A/ja
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Publication of JP7421346B2 publication Critical patent/JP7421346B2/ja
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • 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
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/086—Proximity sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • 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
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40203—Detect position of operator, create non material barrier to protect operator
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40298—Manipulator on vehicle, wheels, mobile
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49138—Adapt working envelop, limit, allowed zone to speed of tool
    • 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
    • G05B2219/50393—Floor conveyor, AGV automatic guided vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Optics & Photonics (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Quality & Reliability (AREA)
  • Manufacturing & Machinery (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
JP2020005801A 2020-01-17 2020-01-17 安全装置、自走式ロボットシステム、及び制御方法 Active JP7421346B2 (ja)

Priority Applications (7)

Application Number Priority Date Filing Date Title
JP2020005801A JP7421346B2 (ja) 2020-01-17 2020-01-17 安全装置、自走式ロボットシステム、及び制御方法
PCT/JP2020/049187 WO2021145220A1 (ja) 2020-01-17 2020-12-28 安全装置、自走式ロボットシステム、及び制御方法
CN202080084721.9A CN114786881B (zh) 2020-01-17 2020-12-28 安全装置、自走式机器人系统以及控制方法
KR1020227026106A KR102704668B1 (ko) 2020-01-17 2020-12-28 안전 장치, 자주식 로봇 시스템 및 제어 방법
US17/791,921 US12140956B2 (en) 2020-01-17 2020-12-28 Safety device, self-propelled robot system, and controlling method
EP20914653.9A EP4091773A4 (en) 2020-01-17 2020-12-28 Safety device, self-propelled robot system, and control method
JP2021097259A JP7480089B2 (ja) 2020-01-17 2021-06-10 安全装置、自走式ロボットシステム、及び制御方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2020005801A JP7421346B2 (ja) 2020-01-17 2020-01-17 安全装置、自走式ロボットシステム、及び制御方法

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JP2021097259A Division JP7480089B2 (ja) 2020-01-17 2021-06-10 安全装置、自走式ロボットシステム、及び制御方法

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JP2021112783A JP2021112783A (ja) 2021-08-05
JP7421346B2 true JP7421346B2 (ja) 2024-01-24

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JP2020005801A Active JP7421346B2 (ja) 2020-01-17 2020-01-17 安全装置、自走式ロボットシステム、及び制御方法
JP2021097259A Active JP7480089B2 (ja) 2020-01-17 2021-06-10 安全装置、自走式ロボットシステム、及び制御方法

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US (1) US12140956B2 (enExample)
EP (1) EP4091773A4 (enExample)
JP (2) JP7421346B2 (enExample)
KR (1) KR102704668B1 (enExample)
CN (1) CN114786881B (enExample)
WO (1) WO2021145220A1 (enExample)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2023018920A (ja) * 2021-07-28 2023-02-09 川崎重工業株式会社 安全装置、ロボットシステム、及び制御方法
CN119212828A (zh) * 2022-05-11 2024-12-27 株式会社电装 自走式作业机器人
JP7534515B1 (ja) 2023-11-21 2024-08-14 コネクテッドロボティクス株式会社 処理システム
DE102024103644B4 (de) * 2024-02-09 2025-11-27 Sick Ag Verfahren zum sicheren Betrieb einer mobilen Maschine

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001273032A (ja) 2000-03-28 2001-10-05 Denso Corp 無人移動車における障害物対処システムおよび装置
JP2016012257A (ja) 2014-06-30 2016-01-21 日本信号株式会社 ロボット装置

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3204047B2 (ja) * 1995-07-25 2001-09-04 株式会社デンソー 工業用ロボットの安全装置
JP2002264070A (ja) * 2001-03-09 2002-09-18 Denso Corp 移動ロボット及び移動ロボットシステム
DE102010046327B4 (de) * 2010-09-23 2021-10-28 Kuka Roboter Gmbh Überwachung eines mobilen Manipulators
JP6199029B2 (ja) * 2012-12-24 2017-09-20 富士機械製造株式会社 自走式介助ロボット
JP6481495B2 (ja) 2015-05-08 2019-03-13 株式会社デンソーウェーブ ロボットの安全装置
DE102015220495A1 (de) 2015-10-21 2017-04-27 Kuka Roboter Gmbh Schutzfeldanpassung eines Manipulatorsystems
EP3243609A1 (en) * 2016-05-09 2017-11-15 OpiFlex Automation AB A fenceless industrial robot system
JP6739364B2 (ja) * 2017-01-20 2020-08-12 株式会社クボタ 自動走行作業車
JP2019000930A (ja) * 2017-06-13 2019-01-10 住友理工株式会社 安全装置
JP6687573B2 (ja) * 2017-09-07 2020-04-22 ファナック株式会社 ロボットシステム
EP3727766B1 (en) * 2017-12-21 2025-11-05 MAGNA Powertrain GmbH & Co KG Safety control module for a robot assembly and method of same

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001273032A (ja) 2000-03-28 2001-10-05 Denso Corp 無人移動車における障害物対処システムおよび装置
JP2016012257A (ja) 2014-06-30 2016-01-21 日本信号株式会社 ロボット装置

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Publication number Publication date
US12140956B2 (en) 2024-11-12
KR20220123059A (ko) 2022-09-05
EP4091773A4 (en) 2024-02-28
JP7480089B2 (ja) 2024-05-09
CN114786881A (zh) 2022-07-22
US20230048039A1 (en) 2023-02-16
JP2021112783A (ja) 2021-08-05
WO2021145220A1 (ja) 2021-07-22
KR102704668B1 (ko) 2024-09-06
EP4091773A1 (en) 2022-11-23
JP2021126770A (ja) 2021-09-02
CN114786881B (zh) 2024-07-02

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