Emergency stop of robot

Patent metadata

Field	Value
Publication number	US-11524413-B2
Application number	US-202016875260-A
Country	US
Kind code	B2
Filing date	May 15, 2020
Priority date	Nov 29, 2019
Publication date	Dec 13, 2022
Grant date	Dec 13, 2022

Abstract

A robot may perform emergency stopping. The robot includes: a driving device configured to perform movement of the robot; a stop switch configured to output a stop switch signal; a controller configured to output a stop signal; and a stop circuit configured to output a first control signal and a second control signal for stopping the driving device. The stop circuit may output the first control signal and the second control signal in response to the stop signal and the stop switch signal.

First claim

What is claimed is:

1. A robot capable of movement, the robot comprising:
a sensor configured to detect an object outside of the robot;
a driving device configured to provide power for movement of the robot;
a stop switch configured to provide a stop switch signal in response to a user input;
a controller configured to control operations of the robot, and to provide a first stop signal and a second stop signal; and
a stop circuit configured to provide, to the driving device, at least one of a first control signal or a second control signal for stopping the movement of the robot, in response to receive at least one of the first stop signal, the second stop signal, or the stop switch signal,
wherein the controller comprises:
a processor configured to provide the first stop signal to the stop circuit when the object is determined to be within a specific region with respect to the robot; and
a power management circuit configured to monitor a state of the processor, and to provide the second stop signal to the stop circuit based on the monitored state of the processor.

2. The robot of claim 1 , wherein the processor includes a first core, a second core, and a core controller to control the first core and the second core, and
the core controller is configured to:
activate the first core such that the first core is to provide the first stop signal to the stop circuit;
deactivate the first core; and
activate the second core such that the second core is to provide the first stop signal to the stop circuit.

3. The robot of claim 1 , wherein the stop circuit includes:
a first driving control circuit configured to provide the first control signal based on the stop switch signal and the first stop signal; and
a second driving control circuit configured to provide the second control signal based on the stop switch signal and the second stop signal.

4. The robot of claim 3 , wherein the driving device includes:
a motor configured to provide a driving force;
a motor control circuit configured to provide a motor control signal for controlling the motor; and
a switch circuit configured to stop the driving device in response to the first control signal or the second control signal.

5. The robot of claim 4 , wherein in response to the driving device receiving the first control signal or the second control signal, the switch circuit is to block power to the motor or to block the motor control signal.

6. The robot of claim 4 , wherein the stop circuit includes a monitoring circuit configured to:
monitor power applied to the motor or a state of the motor control signal, and
provide a driving monitoring signal based on a result of the monitored power or the monitored state; and
the controller is configured to power off the robot based on the first stop signal, and the driving monitoring signal.

7. The robot of claim 1 , further comprising:
a restart switch configured to output a restart switch signal in response to a user input,
wherein the processor is to receive the restart switch signal, and in response to receiving the restart switch signal, the processor is to control the stop circuit such that the driving device is to be restarted.

8. The robot of claim 7 , wherein the controller is configured to:
output the first stop signal while the stop switch signal is inputted;
maintain outputting of the first stop signal until the restart switch signal is inputted; and
stop outputting of the stop signal, when the restart switch signal is inputted, and
wherein the stop circuit is configured to:
provide the first control signal and the second control signal for stopping the driving device, while the first stop signal is inputted; and
stop, when the first stop signal is not inputted, outputting of the first control signal and the second control signal so that the driving device is to be restarted.

9. A stop control apparatus for stopping movement of a robot, the stop control apparatus comprising:
a processor configured to provide a first stop signal when an object detected by a sensor is determined to be within a specific region with respect to the robot;
a power management circuit configured to monitor a state of the processor, and to provide a second stop signal according to the monitored state of the processor; and
a stop circuit configured to:
receive at least one of the first stop signal, the second stop signal, or a stop switch signal provided by a stop switch based on a user input, and
provide a first control signal or a second control signal for stopping a driving device of the robot, in response to the received at least one of the stop switch signal, the first stop signal, or the second stop signal.

10. The stop control apparatus of claim 9 , wherein the processor includes a first core, a second core, and a core controller to control the first core and the second core, and
the core controller is configured to:
activate the first core such that the first core is to provide the first stop signal;
deactivate the first core; and
activate the second core such that the second core is to provide the first stop signal.

11. The stop control apparatus of claim 9 , wherein the stop circuit includes:
a first driving control circuit configured to provide the first control signal based on the stop switch signal or the first stop signal; and
a second driving control circuit configured to provide the second control signal based on the stop switch signal or the second stop signal.

12. The stop control apparatus of claim 9 , wherein the stop circuit includes a monitoring circuit configured to:
monitor power applied to the driving device or a state of a motor control signal, and
provide a driving monitoring signal based on the monitored power or the monitored state, and
the processor is configured to power off the robot based on the first stop signal and the driving monitoring signal.

13. The stop control apparatus of claim 9 , wherein the processor is to receive a restart switch signal in response to a user input, and
in response to receiving the restart switch signal, the processor is to control the stop circuit such that the driving device is to be restarted.

14. The stop control apparatus of claim 13 , wherein the processor is configured to:
provide the first stop signal while the stop switch signal is inputted,
providing of the first stop signal until the restart switch signal is received, and
stop providing of the first stop signal when the restart switch signal is received, and
wherein the stop circuit is configured to:
provide the first control signal and the second control signal for stopping the driving device, while the first stop signal is provided; and
stop, when the first stop signal is not inputted, providing of the first control signal and the second control signal such that the driving device is to be restarted.

15. A system for stopping movement of a robot, the system comprising:
a driving device configured to provide power for movement of the robot;
an input device to receive a user input, and to provide a first switch signal; and
a stop control apparatus configured to:
provide a first stop signal when an object detected by a sensor is determined to be within a specific region with respect to the robot,
provide a second stop signal based on a state of a component of the stop control apparatus,
provide a first control signal to the driving device based on the first stop signal and the first switch signal or a second control signal to the driving device based on the second stop signal and the first switch signal,
wherein the driving device is t

Assignees

• Lg Electronics Inc

Inventors

• Kim Sunuk
• Ka Hokyung
• Yi Jongkwon
• Cho Chunho
• Lee Byunghyuk
• No Keunsik

Classifications

• B25J9/101

  using limit-switches, -stops · CPC title

• B25J9/1674 Primary

  characterised by safety, monitoring, diagnostic · CPC title

• B25J11/0005 Primary

  Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means · CPC title

• G05B19/042

  using digital processors (G05B19/05 takes precedence) · CPC title

• B25J9/126

  Rotary actuators · CPC title