Systems and methods for process tending with a robot arm

Patent metadata

Field	Value
Publication number	US-11872706-B2
Application number	US-202217979597-A
Country	US
Kind code	B2
Filing date	Nov 2, 2022
Priority date	May 25, 2017
Publication date	Jan 16, 2024
Grant date	Jan 16, 2024

Abstract

Systems and methods for process tending with a robot arm are presented. The system comprises a robot arm and robot arm control system mounted on a self-driving vehicle, and a server in communication with the vehicle and/or robot arm control system. The vehicle has a vehicle control system for storing a map and receiving a waypoint based on a process location provided by the server. The robot arm control system stores at programs that is executable by the robot arm. The vehicle control system autonomously navigates the vehicle to the waypoint based on the map, and the robot arm control system selects a target program from the stored programs based on the process location and/or a process identifier.

First claim

We claim:

1. A system for avoiding collisions while navigating to a waypoint during process tending, the system comprising:
a self-driving vehicle having at least one vehicle safety sensor and a vehicle control system in communication with the at least one vehicle safety sensor;
a robot arm and at least one robot arm safety sensor carried by the vehicle; and
a robot arm control system in communication with the at least one robot arm safety sensor;
wherein when the self-driving vehicle is in motion, the vehicle control system and the robot arm control system are configured to operate in:
a first mode during which the robot arm control system is operable to prevent the robot arm from moving outside a perimeter of the self-driving vehicle and the vehicle control system is operable to control the self-driving vehicle based on the at least one vehicle safety sensor, and
a second mode during which the robot arm control system is operable to allow the robot arm to move outside the perimeter of the self-driving vehicle and the vehicle control system is operable to control the self-driving vehicle based on the at least one robot arm safety sensor and the at least one vehicle safety sensor.

2. The system of claim 1 , wherein the at least one vehicle safety sensor is configured to detect vehicle obstacles within a vehicle-safety field of view and the at least one robot arm safety sensor is configured to detect robot arm obstacles within a robot-arm safety field of view;
wherein at least one part of the vehicle-safety field of view does not overlap with the robot-arm-safety field of view.

3. The system of claim 2 , wherein the vehicle control system and the robot arm control system are configured to operate in a third mode in which the vehicle control system prevents the vehicle from moving, and the robot arm control system controls the robot arm based on the at least one robot arm safety sensor and not based on the at least one vehicle safety sensor.

4. The system of claim 3 , wherein the vehicle control system and the robot arm control system are configured to operate in a fourth mode in which the robot arm control system controls the robot arm based on a vehicle safety signal generated based on the at least one vehicle safety sensor, and the at least one robot arm safety sensor.

5. The system of claim 4 , wherein the vehicle safety signal is generated by the vehicle control system based on a speed of the vehicle.

6. The system of claim 4 , wherein the vehicle safety signal is generated when the speed of the vehicle exceeds a pre-determined safe-speed threshold.

7. The system of claim 4 , wherein the vehicle safety signal is generated based on a location of the vehicle.

8. The system of claim 4 , wherein the vehicle safety signal is generated based on a vehicle-operating mode.

9. The system of claim 1 , wherein:
the vehicle control system is configured to receive a robot safety signal from the robot arm control system, wherein the robot arm safety signal is generated by the robot arm control system based on the at least one robot arm safety sensor; and
wherein the second mode comprises the vehicle control system controlling the movement of the self-driving vehicle based on the robot arm safety signal.

10. The system of claim 9 , wherein the robot arm safety signal is generated by the robot arm control system based on a robot-arm-operating mode.

11. A method for operating a self-driving vehicle to avoid collisions while navigating to a waypoint during process tending, the method comprising:
operating the self-driving vehicle having at least one vehicle safety sensor and a vehicle control system in communication with the at least one vehicle safety sensor, the self-driving vehicle carrying a robot arm and at least one robot arm safety sensor;
operating a robot arm control system in communication with the at least one robot arm safety sensor; and
when the self-driving vehicle is in motion, operating the vehicle control system and the robot arm control system in:
a first mode, during which the method comprises operating the robot arm control system to prevent the robot arm from moving outside a perimeter of the self-driving vehicle and operating the vehicle control system to control the self-driving vehicle based on at least one vehicle safety sensor; and
a second mode, during which the method comprises operating the robot arm control system to allow the robot arm to move outside the perimeter of the self-driving vehicle and operating the vehicle control system to control the self-driving vehicle based on the at least one robot arm safety sensor and the at least one vehicle safety sensor.

12. The method of claim 11 , comprising:
receiving, with the vehicle control system, a robot safety signal from the robot arm control system, wherein the robot arm safety signal is generated by the robot arm control system based on the at least one robot arm safety sensor;
wherein the second mode comprises controlling the movement of the self-driving vehicle based on the robot arm safety signal.

13. The method of claim 12 , comprising operating the vehicle control system and the robot arm control system in a fourth mode, the fourth mode comprising:
receiving, with the robot arm control system, a vehicle safety signal from the vehicle control system, wherein the vehicle safety signal is generated based on the at least one vehicle safety sensor; and
controlling a movement of the robot arm using the robot arm control system based on the vehicle safety signal and the robot arm safety signal.

14. The method of claim 13 , wherein the robot arm safety signal is generated in response to the at least one robot arm safety sensor detecting an obstacle within a robot-arm-safety field of view and the vehicle safety signal is generated in response to the at least one vehicle safety sensor detecting an obstacle within a vehicle-safety field of view, wherein at least one part of the vehicle-safety field of view does not overlap with the robot-arm-safety field of view.

15. The method of claim 13 , wherein the vehicle safety signal is generated by the vehicle control system based on a speed of the vehicle.

16. The method of claim 15 , wherein the vehicle safety signal is generated when the speed of the vehicle exceeds a pre-determined safe-speed threshold.

17. The method of claim 13 , wherein the vehicle safety signal is generated based on a location of the vehicle.

18. The method of claim 13 , wherein the vehicle safety signal is generated based on a vehicle-operating mode.

19. The method of claim 12 , wherein the robot arm safety signal is generated by the robot arm control system based on a robot-arm-operating mode.

20. The method of claim 11 , comprising operating the vehicle control system and the robot arm control system in a third mode, the third mode involving:
preventing the self-driving vehicle from moving; and
controlling a movement of the robot arm based on the at least one robot arm safety sensor and not based on the at least one vehicle safety sensor using the robot arm control system.

Assignees

• Clearpath Robotics Inc

Inventors

• Cantor Daniel
• Gariepy Ryan Christopher
• Clayton Roydyn
• Rodrigues Yvan Geoffrey
• Tod Anthony William
• Vondervoort Bryce William

Classifications

• G05D1/00

  Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) · CPC title

• G05D1/02

  Control of position or course in two dimensions · CPC title

• B25J9/1666 Primary

  Avoiding collision or forbidden zones · CPC title

• B25J5/007

  mounted on wheels · CPC title

• G05B15/02

  electric · CPC title