Robot system including force-controlled pushing device
US-10423154-B2 · Sep 24, 2019 · US
Robot
US11027429B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-11027429-B2 |
| Application number | US-201916267588-A |
| Country | US |
| Kind code | B2 |
| Filing date | Feb 5, 2019 |
| Priority date | Feb 6, 2018 |
| Publication date | Jun 8, 2021 |
| Grant date | Jun 8, 2021 |
How to read this patent
A practical reading order for non-experts. Skip the full description unless you need deep technical detail.
- Title
What the patent document calls the invention.
- Abstract
A short plain-language summary of the technical disclosure.
- Assignees and inventors
Who owns or filed the patent and who is credited as inventor.
- Key dates
Filing, priority, publication, and grant dates set the timeline.
- First independent claim
The legal scope of protection — read this for what is actually claimed.
- CPC / IPC classifications
Technology tags used to group this patent with similar filings.
- Citations and related patents
Prior art links and similar publications in this corpus.
Abstract
Official abstract text for this publication.
A robot with a noncontact sensor is configured to: perform the predetermined motion in a state where the moving object does not enter, and thereby store, for each of a plurality of measurement points set in a movable range of the robot, an output value of the noncontact sensor as a reference output value in advance, and stop the predetermined motion when the output value of the noncontact sensor changes from the reference output value at the measurement point closest to a current operating position of the robot by a first threshold value or larger when the robot is performing the predetermined motion in a state where the moving object could possibly enter and the current operating position of the robot is in a range in which it is necessary to determine an entering state of the moving object.
First claim
Opening claim text (preview).
What is claimed is: 1. A robot comprising a noncontact sensor configured to detect an entrance of a moving object, the robot being configured to perform a predetermined motion, wherein the robot is further configured to: perform the predetermined motion in a state where the moving object does not enter, and thereby store, for each of a plurality of measurement points set in a movable range of the robot, an output value of the noncontact sensor as a reference output value in advance, and stop the predetermined motion when the output value of the noncontact sensor changes from the reference output value at the measurement point closest to a current operating position of the robot by a first threshold value or larger when the robot is performing the predetermined motion in a state where the moving object could possibly enter and the current operating position of the robot is in a range in which it is necessary to determine an entering state of the moving object. 2. The robot according to claim 1 , wherein the robot performs at least one of reducing a motion speed of the predetermined motion and issuing a warning when the output value of the noncontact sensor changes from the reference output value at the measurement point closest to the current operating position of the robot by a value that is smaller than the first threshold value and equal to or larger than a second threshold value smaller than the first threshold value when the robot is performing the predetermined motion in the state where the moving object could possibly enter. 3. A method for controlling a robot configured to perform a predetermined motion, the method comprising: providing a noncontact sensor configured to detect an entrance of a moving object, perform the predetermined motion in a state where the moving object does not enter, and thereby store, for each of a plurality of measurement points set in a movable range of the robot, an output value of the noncontact sensor as a reference output value in advance, and stop the predetermined motion when the output value of the noncontact sensor changes from the reference output value at the measurement point closest to a current operating position of the robot by a first threshold value or larger when the robot is performing the predetermined motion in a state where the moving object could possibly enter and the current operating position of the robot is in a range in which it is necessary to determine an entering state of the moving object. 4. The method according to claim 3 , wherein the robot performs at least one of reducing a motion speed of the predetermined motion and issuing a warning when the output value of the noncontact sensor changes from the reference output value at the measurement point closest to the current operating position of the robot by a value that is smaller than the first threshold value and equal to or larger than a second threshold value smaller than the first threshold value when the robot is performing the predetermined motion in the state where the moving object could possibly enter.
Assignees
Inventors
Classifications
Safety devices · CPC title
Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418) · CPC title
using image capturing devices · CPC title
using capacitive technology · CPC title
- B25J9/1676Primary
Avoiding collision or forbidden zones · CPC title
Patent family
Related publications grouped by family.
External sources
Frequently asked questions
Answers are generated from the same data shown on this page.
- What does patent US11027429B2 cover?
- A robot with a noncontact sensor is configured to: perform the predetermined motion in a state where the moving object does not enter, and thereby store, for each of a plurality of measurement points set in a movable range of the robot, an output value of the noncontact sensor as a reference output value in advance, and stop the predetermined motion when the output value of the noncontact senso…
- Who is the assignee on this patent?
- Toyota Motor Co Ltd
- What technology area does this patent fall under?
- Primary CPC classification B25J9/1676. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue Jun 08 2021 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 4 related publications on this page (citations in our corpus or others sharing the same primary CPC).