SYSTEMS AND METHODS FOR SAFE ROBOT OPERATION

• US 20140067121A1
• Filed: 09/03/2013
• Published: 03/06/2014
• Est. Priority Date: 08/31/2012
• Status: Active Grant

• Current Assignee: Rethink Robotics
• Original Assignee: Rethink Robotics
• Inventors: Brooks, Rodney, Sussman, Michael, Williamson, Matthew Murray, Goodwin, William A., Dye, Noelle, Blumberg, Bruce
• Granted Patent: US 9,043,025 B2
• Time in Patent Office: Days
• US Class Current: 700/255
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/40202 Human robot coexistence
• CPC Class Codes: G05B 2219/40203 Detect position of operator, create non material barrier to protect operator
• CPC Class Codes: G05B 2219/43202 If collision danger, speed is low, slow motion

Abstract

In various embodiments, safe collaboration between a robot and humans is achieved by operating the robot continuously at or below a first threshold speed at which any collisions with a person'"'"'s arms do not cause harm, and, upon detection of the person'"'"'s torso or head within a danger zone around the robot, reducing the speed to or below a second threshold at which any collisions with the person'"'"'s torso or head do not cause harm.

Claims

1. A robot comprising:

a body and, attached thereto, at least one appendage movable with respect thereto;

a sensor system for detecting persons within a detection zone around the robot; and

a computational facility for (i) defining a danger zone at least partially within the detection zone, (ii) operating the robot at a speed at or below a first threshold at which collisions between the at least one appendage and a person'"'"'s arms do not harm the person, and (iii) in response to detection of at least one of a person'"'"'s torso or head within the danger zone, operating the robot at a speed at or below a second threshold at which collisions between the at least one appendage and the person'"'"'s torso or head do not harm the person, the second threshold being lower than the first threshold.

2. The robot of claim 1, wherein at least a portion of the danger zone is outside the detection zone.

3. The robot of claim 1, wherein a boundary of the danger zone is based at least in part on a reach of the at least one appendage.

4. The robot of claim 3, wherein the detection zone is spatially limited by a lower height boundary such that activity within the danger zone below the detection zone does not alter operation of the robot.

5. The robot of claim 4, wherein the lower height boundary varies with distance from the robot.

6. The robot of claim 1, wherein the sensor system comprises at least one sonar sensor.

7. The robot of claim 1, wherein the sensor system comprises at least one camera and an associated image-processing facility.

8. The robot of claim 7, wherein the image-processing facility is configured to discriminate between the person'"'"'s torso or head and the person'"'"'s arms.

9. The robot of claim 1, wherein at least one of a corner or an edge of the at least one appendage is at least one of rounded or padded with a soft material.

10. The robot of claim 1, further comprising at least one output device for signaling at least one of a direction toward a location at which a robot action is going to take place, proximity of a human to the robot, an indication whether the robot has detected a person in the zone, or an indication of a robot malfunction.

11. The robot of claim 1, further comprising a switching mechanism operable by a person to switch the robot into training mode, the computational facility being configured to operate the robot, when switched into training mode, at a speed at or below a third threshold below the first threshold.

12. The robot of claim 1, further comprising a collision-detection system, the computational facility being responsive to the collision-detection system and terminating operation of the robot when a collision is detected.

13. The robot of claim 1, further comprising an emergency circuit for safely shutting down robot operation in case of a power failure.

14. A method for safely operating a robot having at least one movable appendage, the method comprising:

operating the robot at a speed at or below a first threshold at which collisions between the at least one appendage and a person'"'"'s arms do not harm the person;

using a sensor system, monitoring detection zone around the robot to detect persons therein;

in response to detection of at least one of a person'"'"'s torso or a person'"'"'s head within a danger zone that is at least partially within the detection zone, operating the robot at a speed at or below a second threshold at which collisions between the at least one appendage and the person'"'"'s torso or head do not harm the person, the second threshold being lower than the first threshold.

15. The method of claim 14, wherein at least a portion of the danger zone is outside the detection zone.

16. The method of claim 14, wherein the detection zone is defined in part by a lower height boundary such that activity within the danger zone below the detection zone does not alter operation of the robot.

17. The method of claim 14, wherein monitoring the detection zone comprises detecting motion therein.

18. The method of claim 14, wherein monitoring the detection zone comprises acquiring images thereof and processing the images so as to identify a person'"'"'s torso or head therein.

19. The method of claim 14, further comprising switching the robot into training mode upon operation of a switching mechanism by a person, and operating the robot, when switched into training mode, at a speed at or below a third threshold, the third threshold being below the first threshold.

20. The method of claim 14, further comprising terminating operation of the robot when a collision occurs.

21. The method of claim 14, further comprising safely shutting down robot operation in case of a power failure.