Portable apparatus for controlling robot and method thereof

Patent metadata

Field	Value
Publication number	US-10166673-B2
Application number	US-201615235719-A
Country	US
Kind code	B2
Filing date	Aug 12, 2016
Priority date	Apr 4, 2014
Publication date	Jan 1, 2019
Grant date	Jan 1, 2019

Abstract

A portable apparatus for controlling a robot and a method therefor. The portable apparatus includes: an orientation sensor adapted for measuring orientation of the portable apparatus; an HMI device adapted for detecting two-dimensional manual motion relative to the HMI device; and a processing unit adapted for receiving a first signal representing the measured orientation of the portable apparatus and a second signal representing the detected two-dimensional manual motion relative to the HMI device and controlling a part of the robot to move in a direction in consideration of the measured orientation of the portable apparatus and the detected two-dimensional manual motion relative to the HMI device. By having the portable apparatus and the method therefor as explained herein, the two-dimensional manual movement on touch panel is integrated with orientation of the portable apparatus and an integration of these is mapped by the robot, which makes it possible to define a path in three dimensional space for jogging/teaching robot's movements in three dimension.

First claim

The invention claimed is:

1. A portable apparatus for controlling a robot, including:
an orientation sensor structured to measure orientation of said portable apparatus;
a human machine interface (HMI) device structured to detect two-dimensional manual motion relative to said HMI device; and
a processing unit structured to receive a first signal representing said measured orientation of said portable apparatus and a second signal representing said detected two-dimensional manual motion relative to said HMI device and controlling a part of said robot to move in a direction corresponding to a combination of said measured orientation of said portable apparatus and a direction of said detected two-dimensional manual motion relative to said HMI device.

2. The portable apparatus according to claim 1 , wherein:
said processing unit is further structured to control said part of said robot to move in a speed corresponding to a speed of said detected two-dimensional manual motion relative to said HMI device.

3. The portable apparatus according to claim 2 , wherein:
said orientation sensor is further structured to measure orientation of a first three-dimensional coordinate system which is defined relative to said portable apparatus and which follows movement of said portable apparatus;
said robot is operable in a fixed second three-dimensional coordinate system;
said HMI device is further structured to detect said two-dimensional manual motion relative to said HMI device in said first three-dimensional coordinate system;
said processing unit is further structured to determine a relative orientation between the first and second three-dimensional coordinate systems, calculating a transformation between the first and second three-dimensional coordinate systems based on said relative orientation between these coordinate systems and transforming said detected two-dimensional manual motion relative to said HMI device into corresponding movements of said part of said robot in the second three-dimensional coordinate system based on said calculated transformation.

4. The portable apparatus according to claim 1 , wherein said orientation sensor is a three directional magnetometer or a combination of a three directional accelerometer and a three directional gyroscope.

5. The portable apparatus according to claim 1 , wherein said HMI device is a touch panel.

6. The portable apparatus according to claim 1 , wherein said part of said robot is a tool attached to said tool.

7. The portable apparatus according to claim 1 , wherein said part of said robot is a joint.

8. The portable apparatus according to claim 1 , further including:
at least one identification marker reader, being structured to receive a signal representing information about said part of said robot from an external identification marker;
wherein:
said processing unit is further structured to select said part of said robot among a multiple of parts of said robot based on said information about said part of said robot.

9. The portable apparatus according to claim 8 , wherein said identification marker is attached with said part of said robot.

10. The portable apparatus according to claim 8 , wherein said processing unit is further structured to set a movement mode based on said information about said part of said robot.

11. The portable apparatus according to claim 1 , further including:
an identification marker reader, being structured to receive signal representing information about a multiple of robots from an external identification marker tag;
wherein:
said processing unit is further structured to select one of said robots as master and the others as slave.

12. The portable apparatus according to claim 8 , wherein said identification marker is at least one of a RFID tag, an NFC tag or an QR code tag.

13. The portable apparatus according to claim 1 , wherein said processing unit is further structured to receive a third signal representing the speed of the movement of said part of said robot from controller of said robot and judging if a scaling factor between the speed of said detected two-dimensional manual motion relative to said HMI device and that of the movement of said part of said robot falls in an allowable range.

14. The portable apparatus according to claim 1 , wherein said processing unit is further structured to receive a fourth signal representing position of said part of said robot from controller of said robot and judging if said position is in collision with an external object.

15. The portable apparatus according to claim 1 , wherein said HMI device is further structured to display robot information based on robot signal received from controller of said robot.

16. The portable apparatus according to claim 15 , wherein
said robot information represents mal-function of a part of said robot.

17. The portable apparatus according to claim 1 , wherein said HMI device is further structured to send sound, vibrate or change its background color for indicating various conditions of said robot.

18. A method for manually controlling robot with a portable apparatus, including:
measuring orientation of said portable apparatus;
detecting two-dimensional manual motion relative to a human machine interface (HMI) device of said portable apparatus; and
controlling a part of said robot to move in a direction in consideration of a combination of said measured orientation of said portable apparatus and a direction of said detected two-dimensional manual motion relative to said HMI device of said robot.

19. The method for manually controlling robot according to claim 18 , further including:
controlling said part of said robot to move in a speed corresponding to a speed of said detected two-dimensional manual motion relative to said HMI device of said portable apparatus.

Assignees

• Abb Schweiz Ag

Inventors

• Orman Maciej
• Jiang Wanli
• Martinez Carlos
• Plesnar Jacek

Classifications

• G06F3/016

  Input arrangements with force or tactile feedback as computer generated output to the user · CPC title

• G06F3/04883

  for inputting data by handwriting, e.g. gesture or text · CPC title

• G05B2219/39445

  Select between jog modes, user, robot coordinates, tool, system feed, joint feed · CPC title

• G06F3/0346 Primary

  with detection of the device orientation or free movement in a three-dimensional [3D] space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors · CPC title

• G05B2219/39449

  Pendant, pda displaying camera images overlayed with graphics, augmented reality · CPC title