Apparatus and methods to reduce impact of robot collision and/or avoid robot collision

Patent metadata

Field	Value
Publication number	US-2024198528-A1
Application number	US-202218066787-A
Country	US
Kind code	A1
Filing date	Dec 15, 2022
Priority date	Dec 15, 2022
Publication date	Jun 20, 2024
Grant date	—

Abstract

Apparatus and methods to reduce impact of robot collision and/or avoid robot collision are described herein. An example collision detection device includes a housing to be coupled to an automated robot, a sensor in the housing, a relay in the housing, the relay to be electrically coupled to a safety circuit of the automated robot, and circuitry in the housing. The circuitry is to determine a parameter value based a signal from the sensor, compare the parameter value to a threshold value, and, in response to the parameter value satisfying the threshold value, trigger the relay to stop the automated robot.

First claim

What is claimed is:

1 . A collision detection device comprising:
a housing, the housing to be coupled to an automated robot; a sensor in the housing; a relay in the housing, the relay to be electrically coupled to a safety circuit of the automated robot; and circuitry in the housing, the circuitry to:
determine a parameter value based a signal from the sensor;
compare the parameter value to a threshold value; and
in response to the parameter value satisfying the threshold value, trigger the relay to stop the automated robot.

2 . The collision detection device of claim 1 , wherein the collision detection device is independent of a control system associated with the automated robot.

3 . The collision detection device of claim 1 , wherein the circuitry includes a microprocessor.

4 . The collision detection device of claim 1 , wherein the circuitry is to reset the relay after a period of time.

5 . The collision detection device of claim 1 , wherein the sensor is an accelerometer.

6 . The collision detection device of claim 5 , wherein the parameter value is an acceleration value.

7 . The collision detection device of claim 6 , further including a display, the circuitry to cause the display to display the acceleration value.

8 . The collision detection device of claim 7 , wherein the circuitry is to cause the display to change colors in response to the parameter value satisfying the threshold value.

9 . The collision detection device of claim 5 , wherein the accelerometer is to output signals indicative of acceleration in X, Y, and Z directions, and wherein the circuitry is to:
determine acceleration values for the X, Y, and Z directions; compare the acceleration values to respective threshold values; and in response to one of the acceleration values satisfying the respective threshold value, trigger the relay to stop the automated robot.

10 . The collision detection device of claim 5 , wherein the parameter value is a change in acceleration.

11 . The collision detection device of claim 1 , wherein the sensor is a microphone, and wherein the parameter value is sound energy.

12 . A method comprising:
determining, via a processor, a parameter value based on a signal from a sensor, wherein the sensor, the processor, and a relay are disposed in a housing that is coupled to an automated robot, the relay electrically coupled to a safety circuit of the automated robot; comparing, via the processor, the parameter value to a threshold value; and in response to the parameter value satisfying the threshold value, triggering, via the processor, the relay to stop the automated robot.

13 . The method of claim 12 , wherein the sensor is an accelerometer, and wherein the parameter value includes at least one of an acceleration value or a change in acceleration value.

14 . The method of claim 12 , wherein the sensor is a microphone, and wherein the parameter value is sound energy.

15 . The method of claim 12 , wherein the automated robot is a collaborative robot.

16 . A non-transitory machine readable storage medium comprising instructions that, when executed, cause processor circuitry to at least:
determine a parameter value based on a signal from a sensor, wherein the sensor, the processor circuitry, and a relay are disposed in a housing that is coupled to an automated robot, the relay electrically coupled to an emergency stop circuit of the automated robot; compare the parameter value to a threshold value; and in response to the parameter value satisfying the threshold value, trigger the relay to stop the automated robot.

17 . The non-transitory machine readable storage medium of claim 16 , wherein the parameter value includes at least one of an acceleration value, a change in acceleration value, or sound energy.

18 . The non-transitory machine readable storage medium of claim 16 , wherein the instructions, when executed cause the processor circuitry to determine the threshold value based on a nominal range of acceleration during a process performed by the automated robot.

19 . The non-transitory machine readable storage medium of claim 16 , wherein the instructions, when executed, cause the processor circuitry to set the threshold value based on input from a user.

20 . The non-transitory machine readable storage medium of claim 16 , wherein the instructions, when executed, cause the processor circuitry to reset the relay after a period of time.

Assignees

• Boeing Co

Inventors

• Destories Jason G
• Mercer Michael R
• Bruno Ashley B
• Estevo Curtis R
• Peebles Jeffrey
• Penuelas Basilio
• Mitanoski Blaze

Classifications

• B25J9/1674

  characterised by safety, monitoring, diagnostic · CPC title

• B25J13/088

  with position, velocity or acceleration sensors · CPC title

• B25J13/087 Primary

  for sensing other physical parameters, e.g. electrical or chemical properties · CPC title

• B25J9/1676 Primary

  Avoiding collision or forbidden zones · CPC title

• B25J19/06 Primary

  Safety devices · CPC title