Automated safety procedures for human intervention in robot systems

Patent metadata

Field	Value
Publication number	US-11648673-B2
Application number	US-202016883895-A
Country	US
Kind code	B2
Filing date	May 26, 2020
Priority date	May 26, 2020
Publication date	May 16, 2023
Grant date	May 16, 2023

Abstract

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing automated safety procedures for a robot. One of the methods includes receiving, by a robotic control system for a robot, a request to execute an automated safety procedure by a safety control subsystem for the robot. Each step of the automated safety procedure is iterated until an end of the automated safety procedure is reached, including if a step requires a new safety configuration, a respective safety configuration for the step is obtained and activated before performing one or more automatic actions for the step.

First claim

What is claimed is:

1. A computer-implemented method comprising:
receiving, by a robotic control system for a robot, a request to execute an automated safety procedure by a safety control subsystem for the robot, wherein the automated safety procedure specifies one or more steps, and, for each step of the one or more steps, one or more actions to be executed automatically by the safety control subsystem, and wherein the safety control subsystem stores a mapping between a plurality of steps of the safety control subsystem and a plurality of respective special safety configurations;
iterating over each step in a sequence of steps of the automated safety procedure until an end of the automated safety procedure is reached and automatically activating a plurality of different special safety configurations during the sequence of steps, including:
determining whether the step requires a new special safety configuration,
obtaining, from the mapping, a respective special safety configuration for the step whenever the step requires a new special safety configuration,
activating, in a workcell having the robot, the respective new special safety configuration for the step, and
performing one or more automatic actions for the step.

2. The method of claim 1 , wherein performing one or more automatic actions comprises prompting a user to perform one or more manual actions on the robot for the step.

3. The method of claim 2 , wherein prompting the user to perform one or more manual actions comprises generating a user interface presentation that specifies the one or more manual actions to be performed by the user for the step.

4. The method of claim 1 , wherein performing one or more automatic actions comprises performing one or more movement actions on the robot that are allowed under one of the special safety configurations.

5. The method of claim 1 , wherein performing one or more automatic actions comprises altering a movement parameter of the robot according to the special safety configuration.

6. The method of claim 5 , wherein altering a movement parameter comprises reducing a velocity, acceleration, jerk, force, or torque of a robot component according to a movement threshold defined by a special safety configuration.

7. The method of claim 1 , wherein performing one or more automatic actions comprises requesting authorization from one or more other users before proceeding to a next step of the automated safety procedure.

8. The method of claim 1 , wherein activating the new special safety configuration for the step comprises disabling power to the robot or one or more components of the robot.

9. The method of claim 1 , wherein activating the new special safety configuration for the step comprises enabling or disabling a sensor or a type of data captured by a sensor.

10. The method of claim 1 , wherein the robotic control system comprises a control stack that is separate and independent from the safety control subsystem.

11. The method of claim 1 , wherein the safety control subsystem stores one or more custom mappings between detections and reactions and further comprising:
determining that a detection for a custom mapping is satisfied; and
in response, performing a corresponding reaction of the custom mapping.

12. The method of claim 10 , wherein the custom mapping is defined by an entity that did not manufacture the robot.

13. The method of claim 1 , wherein the plurality of different special safety configurations comprise two or more of:
a special safety configuration that changes limits on robot movements, a special safety configuration that alters exclusion zones in the workcell into which humans are not permitted, or a special safety configuration that alters which sensors are being used or how the sensors are being used.

14. A system comprising:
one or more computers and one or more storage devices storing instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising:
receiving, by a robotic control system for a robot, a request to execute an automated safety procedure by a safety control subsystem for the robot, wherein the automated safety procedure specifies one or more steps, and, for each step of the one or more steps, one or more actions to be executed automatically by the safety control subsystem, and wherein the safety control subsystem stores a mapping between a plurality of steps of the safety control subsystem and a plurality of respective special safety configurations;
iterating over each step in a sequence of steps of the automated safety procedure until an end of the automated safety procedure is reached and automatically activating a plurality of different special safety configurations during the sequence of steps, including:
determining whether the step requires a new special safety configuration,
obtaining, from the mapping, a respective special safety configuration for the step whenever the step requires a new special safety configuration,
activating, in a workcell having the robot, the respective new special safety configuration for the step, and
performing one or more automatic actions for the step.

15. The system of claim 14 , wherein performing one or more automatic actions comprises prompting a user to perform one or more manual actions on the robot for the step.

16. The system of claim 15 , wherein prompting the user to perform one or more manual actions comprises generating a user interface presentation that specifies the one or more manual actions to be performed by the user for the step.

17. The system of claim 14 , wherein performing one or more automatic actions comprises performing one or more movement actions on the robot that are allowed under one of the special safety configurations.

18. The system of claim 14 , wherein performing one or more automatic actions comprises altering a movement parameter of the robot according to the special safety configuration.

19. The system of claim 18 , wherein altering a movement parameter comprises reducing a velocity, acceleration, jerk, force, or torque of a robot component according to a movement threshold defined by a special safety configuration.

20. The system of claim 14 , wherein performing one or more automatic actions comprises requesting authorization from one or more other users before proceeding to a next step of the automated safety procedure.

21. One or more non-transitory computer storage media encoded with computer program instructions that when executed by one or more computers cause the one or more computers to perform operations comprising:
receiving, by a robotic control system for a robot, a request to execute an automated safety procedure by a safety control subsystem for the robot, wherein the automated safety procedure specifies one or more steps, and, for each step of the one or more steps, one or more actions to be executed automatically by the safety control subsystem, and wherein the safety control subsystem stores a mapping between a plurality of steps of the safety control subsystem and a plurality of respective special safety configurations;
iterating over each step in a sequence of steps of the automated safety procedure until an end of the automated safety procedure is reached and automatically activating a plurality of different special safety configurations during the sequence of steps, including:
determining whether the step requires a new special safety configuration,
obtaining, from the mapping,

Assignees

• Intrinsic Innovation Llc

Inventors

• Beardsworth Michael

Classifications

• B25J19/0066

  Means or methods for maintaining or repairing manipulators · CPC title

• B25J9/1651

  acceleration, rate control · CPC title

• G05B2219/40202

  Human robot coexistence · CPC title

• B25J9/1674 Primary

  characterised by safety, monitoring, diagnostic · CPC title

• B25J19/066

  Redundant equipment · CPC title