Warning method and robot system

Patent metadata

Field	Value
Publication number	US-9908244-B2
Application number	US-201415322364-A
Country	US
Kind code	B2
Filing date	Jul 2, 2014
Priority date	Jul 2, 2014
Publication date	Mar 6, 2018
Grant date	Mar 6, 2018

Abstract

A method for warning a person in a working area about at least one first robot, and a robot system that includes the at least one first robot, wherein the movement of the robot in a future working interval is predicted, a determination is made as to whether a working area segment will be passed over by the robot in a first or second time period, a first or second visual warning is emitted in accordance with when the working area segment will be passed over, and the first or second visual warnings are respectively emitted onto a floor segment that is assigned to a respective working area segment.

First claim

The invention claimed is:

1. A method for providing a warning to a person about at least one first robot in a working space comprising a plurality of floor segments, a working space segment being assigned to each floor segment of the plurality of floor segments, the method comprising:
a) predicting a robot movement which is performed by the at least one first robot in a working interval;
b) determining a space through which the at least one first robot travels during the working interval;
c) determining at least one working space segment which, within a first and a later second time period of the working interval, resides at least partially within the space through which the at least one first robot traveled;
d) outputting a first visual warning onto a floor segment if the at least one first robot will travel through an associated working space segment within the first time period of the working interval; and
e) outputting a second visual warning onto the floor segment if the at least one first robot will travel through the associated working space segment within the later second time period of the working interval.

2. The method as claimed in claim 1 , wherein during step b) a space simultaneously traveled through by the at least one first robot and a first transport item is detected.

3. The method as claimed in claim 1 , wherein the first and second visual warnings each comprise a colored signal or light pattern.

4. The method as claimed in claim 2 , wherein the first and second visual warnings each comprise a colored signal or light pattern.

5. The method as claimed in claim 1 , wherein step c) is also performed for at least one third time period and within at least one further step f) a third visual warning is output onto the floor segment if the associated working space segment is traveled through.

6. The method as claimed in claim 1 , wherein during steps d) to f) an audible warning is additionally output.

7. The method as claimed in claim 1 , wherein at least one of (i) visual warnings and (ii) an audible warning form a function of at least one process parameter of the at least one first robot.

8. The method as claimed in claim 6 , wherein the at least one process parameter comprises at least one of (i) a movement speed of the at least one first robot and (ii) an item of qualitative data for a first or a second transport item.

9. The method as claimed in claim 5 , further comprising:
outputting a visual all-clear signal in each floor segment if the at least one first robot fails to travel through the associated working space segment during the working interval.

10. The method as claimed in claim 1 , wherein steps a) to c) are additionally performed for at least one second robot.

11. A robot system comprising:
a controller;
at least one first robot linked to the control unit and arranged in a working space comprising a plurality of working space segments each having an assigned floor segment; and
at least one lighting element linked to the control unit and is configured to output in each case on at least one floor segment a visual warning;
wherein the controller is configured to:
a) predict a robot movement which is performed by the at least one first robot in a working interval;
b) determine a space through which the at least one first robot travels during the working interval;
c) determine at least one working space segment which, within a first and a later second time period of the working interval, resides at least partially within the space through which the at least one first robot traveled;
d) output a first visual warning onto a floor segment if the at least one first robot will travel through an associated working space segment within the first time period of the working interval; and
e) outputting a second visual warning onto the floor segment if the at least one first robot will travel through the associated working space segment within the later second time period of the working interval.

12. The robot system as claimed in claim 11 , further comprising:
at least one second robot.

13. The robot system as claimed in claim 11 , wherein the at least one lighting element comprises a plurality of light segments, each of said plurality of light segments being affixed on or above an associated floor segment.

14. The robot system as claimed in claim 12 , wherein the at least one lighting element comprises a plurality of light segments, each of said plurality of light segments being affixed on or above an associated floor segment.

15. The robot system as claimed in claim 12 , wherein the at least one lighting element comprises a controllable image projector arranged above associated floor segments.

16. The robot system as claimed in claim 13 , wherein that the at least one lighting element comprises a controllable image projector arranged above associated floor segments.

17. A non-transitory computer readable storage medium encoded with a computer program which, when executed by a processor of a controller, provides a warning to a person about at least one first robot in a working space comprising a plurality of floor segments, a working space segment being assigned to each floor segment of the plurality of floor segments, the computer program comprising:
a) program code for predicting a robot movement which is performed by the at least one first robot in a working interval;
b) program code for determining a space through which the at least one first robot travels during the working interval;
c) program code for determining at least one working space segment which, within a first and a later second time period of the working interval, resides at least partially within the space through which the at least one first robot traveled;
d) program code for outputting a first visual warning onto a floor segment if the at least one first robot will travel through an associated working space segment within the first time period of the working interval; and
e) program code for outputting a second visual warning onto the floor segment if the at least one first robot will travel through the associated working space segment within the later second time period of the working interval.

18. The non-transitory computer readable storage medium of claim 17 , wherein the non-transitory computer readable storage medium comprises a memory or data carrier.

Assignees

• Siemens Ag

Inventors

• Burmeister Soeren
• Holz Marc

Classifications

• G08B21/02

  Alarms for ensuring the safety of persons · CPC title

• G05B2219/40196

  Projecting light on floor to delimit danger zone around robot · CPC title

• B25J19/061

  with audible signals (audio controls B25J13/003) · CPC title

• B25J9/1676

  Avoiding collision or forbidden zones · CPC title

• B25J19/06 Primary

  Safety devices · CPC title