Method, robot system and computer readable medium for determining a safety zone and for path planning for robots

Patent metadata

Field	Value
Publication number	US-11660751-B2
Application number	US-202017091184-A
Country	US
Kind code	B2
Filing date	Nov 6, 2020
Priority date	Nov 7, 2019
Publication date	May 30, 2023
Grant date	May 30, 2023

Abstract

An automated method determines a safety zone for a robot. The robot carries out operations along a specified trajectory. For collision-free operation, a safety zone is determined by: dividing the specified trajectory into a plurality of subtrajectories; determining a plurality of fine-grained envelope cuboids around extreme points of each subtrajectory; and determining a number of optimized envelope cuboids from an enlargement of individual fine-grained envelope cuboids in relation to the volume occupied by the enlarged fine-grained envelope cuboids. The optimized envelope cuboids determined in this way form the safety zone for the trajectory. This automated method can be expanded to multiple trajectories of a robot, multiple robots, and replanning a trajectory for an occupied semaphore zone.

First claim

The invention claimed is:

1. A method for determining a safety zone for a first robot carrying out operations along a specified trajectory, the safety zone for a collision-free operation being determined by the following method steps of:
a) dividing the specified trajectory into a plurality of subtrajectories;
b) determining a plurality of envelope cuboids, referred to as fine-grained envelope cuboids in the following, around extreme points of each subtrajectory;
c) determining a number of optimized envelope cuboids from an enlargement of individual ones of the fine-grained envelope cuboids based on a volume occupied by enlarged fine-grained envelope cuboids, wherein the optimized envelope cuboids determined in this way form the safety zone for the trajectory;
d) determining a further safety zone for a further robot, for which a further trajectory is specified, wherein the further robot interacts with the first robot, by performing the further steps of:
carrying out the method steps a) to c) for the further trajectory, and the safety zone and the further safety zone determined for said specified trajectory and the further trajectory are overlaid, which produces an overlap zone;
defining a cuboid-shaped semaphore zone contained in the overlap zone, the cuboid-shaped semaphore zone contains a crossing of the further trajectory and the specified trajectory and is minimized compared to the optimized envelope cuboids of the further safety zone and the safety zone; and

e) recalculating a new trajectory based on the optimized envelope cuboids determined in step c), the first robot carrying out operations along the new trajectory when a blockage occurs along the specified trajectory in real time.

2. The method according to claim 1 , wherein in the method step b), movement spaces of the first robot corresponding to the operations to be carried out are defined by envelope spheres, wherein each envelope sphere represents a maximum claimed movement space per extreme point and the fine-grained envelope cuboids are determined such that they surround the envelope spheres.

3. The method according to claim 1 , wherein in the method step b), movement spaces of the first robot corresponding to the operations to be carried out are defined by envelope ellipsoids, wherein each envelope ellipsoid represents a maximum claimed movement space per extreme point and the fine-grained envelope cuboids are determined such that they surround the envelope ellipsoids.

4. The method according to claim 1 , wherein in the method step b), movement spaces of the first robot corresponding to the operations to be carried out are defined by fixed, specified envelope spheres and the fine-grained envelope cuboids are determined such that they surround the fixed, specified envelope spheres.

5. The method according to claim 1 , which further comprises:
f) defining protective measures.

6. The method according to claim 5 , wherein in the method step f) alternatively or cumulatively, the protective measures are defined by:
positioning at least one light grid containing a plurality of light beams at edges of the safety zone, wherein a safety function is triggered when a light beam is interrupted;
positioning at least one laser scanner at the edges of the safety zone, wherein the laser scanner measures a distance to an intruding object, so that a distance-dependent safety function is triggered; and
positioning a safety switch at the edges of the safety zone, wherein the safety switch triggers a safety function when a mechanical limitation of the safety zone is opened.

7. The method according to claim 1 , wherein the optimized envelope cuboids on which a determination of the safety zone and the further safety zone is based are used as a basis for redetermining the specified trajectory of the first robot in such a way that a redetermined trajectory avoids the cuboid-shaped semaphore zone.

8. The method according to claim 7 , wherein the specified trajectory and the further trajectory of the first robot and the further robot and the redetermined trajectory of the first robot are stored in a trajectory library of a central fail-safe controller.

9. The method according to claim 1 , wherein in real-time operation, the first robot and the further robot start a query to a fail-safe controller, in order to obtain a permission to pass through a semaphore zone.

10. The method according to claim 1 , which further comprises carrying out the method steps for a plurality of further robots.

11. The method according to claim 1 , which further comprises carrying out the method steps for a plurality of trajectories of at least one robot.

12. A robot system, comprising:
at least one robot carrying out operations along a specified trajectory;
a local controller situated on said at least one robot; and
a central fail-safe controller determining a safety zone for a collision-free operation of said at least one robot by:
a) dividing the specified trajectory into a plurality of subtrajectories;
b) determining a plurality of envelope cuboids, referred to as fine-grained envelope cuboids in the following, around extreme points of each subtrajectory;
c) determining a number of optimized envelope cuboids from an enlargement of individual ones of the fine-grained envelope cuboids based on a volume occupied by enlarged fine-grained envelope cuboids, wherein the optimized envelope cuboids determined in this way form the safety zone for the trajectory;
d) determining a further safety zone for a further robot, for which a further trajectory is specified, wherein the further robot interacts with said at least one robot, by performing the further steps of:
carrying out the steps a) to c) for the further trajectory, and the safety zone and the further safety zone determined for said specified trajectory and the further trajectory are overlaid, which produces an overlap zone;
defining a cuboid-shaped semaphore zone contained in the overlap zone, the cuboid-shaped semaphore zone contains a crossing of the further trajectory and the specified trajectory and is minimized compared to the optimized envelope cuboids of the further safety zone and the safety zone; and

e) recalculating a new trajectory based on the optimized envelope cuboids determined in step c), the first robot carrying out operations along the new trajectory when a blockage occurs along the specified trajectory in real time.

13. A non-transitory computer readable medium storing computer executable instructions to be executed on a computer system and/or on a central fail-safe controller of a robot system, the computer executable instructions carrying out a method for determining a safety zone for a first robot carrying out operations along a specified trajectory, the safety zone for a collision-free operation being determined by the following method steps of:
a) dividing the specified trajectory into a plurality of subtrajectories;
b) determining a plurality of envelope cuboids, referred to as fine-grained envelope cuboids in the following, around extreme points of each subtrajectory; and
c) determining a number of optimized envelope cuboids from an enlargement of individual ones of the fine-grained envelope cuboids based on a volume occupied by enlarged fine-grained envelope cuboids, wherein the optimized envelope cuboids determined in this way form the safety zone for the trajectory;
d) determining a further safety zone for a further robot, for which a further trajectory is specified, wherein the further robot interacts with the first robot, by performing the further steps of:
carrying out the method steps a) to c) for the further trajectory, and the safety

Assignees

• Siemens Ag

Inventors

• Baer Felix
• Graf Rene
• Gross Ralf

Classifications

• G05B2219/39099

  Interlocks inserted in movement process if necessary to avoid collision · CPC title

• B25J9/1674 Primary

  characterised by safety, monitoring, diagnostic · CPC title

• B25J9/1669

  characterised by special application, e.g. multi-arm co-operation, assembly, grasping · CPC title

• G05B2219/49148

  Adapt working envelop, limit to size workpiece · CPC title

• B25J9/1676 Primary

  Avoiding collision or forbidden zones · CPC title