Safety System for Integrated Human/Robotic Environments

• US 20170144307A1
• Filed: 11/24/2015
• Published: 05/25/2017
• Est. Priority Date: 11/24/2015
• Status: Active Grant

• Current Assignee: Intrinsic Innovation LLC (Alphabet Inc.)
• Original Assignee: X Development LLC (Alphabet Inc.)
• Inventors: Zevenbergen, John, Rublee, Ethan
• Granted Patent: US 10,081,106 B2
• Time in Patent Office: Days
• CPC Class Codes: B25J 19/02 Sensing devices
• CPC Class Codes: B25J 19/021 Optical sensing devices
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G05B 2219/39085 Use of two dimensional maps and feedback of external and joint sensors
• CPC Class Codes: G05B 2219/40202 Human robot coexistence
• CPC Class Codes: G05B 2219/40219 Detect contact, proximity of other manipulators
• CPC Class Codes: G05B 2219/43202 If collision danger, speed is low, slow motion
• CPC Class Codes: G05B 2219/49137 Store working envelop, limit, allowed zone
• CPC Class Codes: G05B 2219/49141 Detect near collision and slow, stop, inhibit movement tool
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93
• CPC Class Codes: G06Q 10/06 Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
• CPC Class Codes: G06Q 10/08 Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement

Abstract

Systems and methods are provided for specifying safety rules for robotic devices. A computing device can determine information about any actors present within a predetermined area of an environment. The computing device can determine a safety classification for the predetermined area based on the information. The safety classification can include: a low safety classification if the information indicates zero actors are present within the predetermined area, a medium safety classification if the information indicates any actors are present within the predetermined area all are of a predetermined first type, and a high safety classification if the information indicates at least one actor present within the predetermined area is of a predetermined second type. After determining the safety classification for the predetermined area, the computing device can provide a safety rule for operating within the predetermined area to a robotic device operating in the environment.

Claims

1. A method, comprising:

determining presence information and actor type information about any actors present within a predetermined area of an environment using one or more sensors associated with a computing device;

determining a particular safety classification of the predetermined area based on at least the presence and actor type information using the computing device, wherein the particular safety classification comprises;

a low safety classification if the presence and actor type information indicates zero actors are present within the predetermined area,

a medium safety classification if the presence and actor type information indicates one or more actors are present within the predetermined area and that all of the one or more actors are of a predetermined first type, and

a high safety classification if the presence and actor type information indicates one or more actors are present within the predetermined area and that at least one actor of the one or more actors is of a predetermined second type; and

after determining the particular safety classification for the predetermined area, the computing device providing a safety rule for operating within the predetermined area to a robotic device operating in the environment, wherein the safety rule corresponds to the particular safety classification.

2. The method of claim 1, wherein the safety rule is at least one of:

a low safety rule corresponding to the low safety classification,

a medium safety rule corresponding to the medium safety classification, and

a high safety rule corresponding to the high safety classification.

3. The method of claim 2, wherein the low safety rule relates to fewer safety-related provisions of the robotic device than the medium safety rule, and wherein the medium safety rule relates to fewer safety-related provisions of the robotic device than the high safety rule.

4. The method of claim 1, wherein the robotic device comprises a local safety system, and wherein at least one of the low safety rule, the medium safety rule, and the high safety rule comprises a rule related to the local safety system.

5. The method of claim 1, wherein at least one of the low safety rule, the medium safety rule, and the high safety rule comprises a rule related to a maximum speed of the robotic device.

6. The method of claim 1, wherein determining the particular safety classification of the predetermined area based on at least the presence and actor type information comprises determining the particular safety classification of the predetermined area based on data related to a trajectory of an actor.

7. The method of claim 1, wherein the environment is divided into a plurality of areas that comprise the predetermined area, and wherein the safety rule for operating within the predetermined area comprises a safety rule for operating in multiple areas of the plurality of areas, and wherein the multiple areas comprise the predetermined area.

8. The method of claim 7, wherein the one or more sensors comprise a first sensor having a first range and a second sensor having a second range, wherein a first area of the plurality of areas is associated with the first sensor and has a size that is based on the first range, and wherein the predetermined area is associated with the second sensor and has a size that is based on the second range.

9. The method of claim 1, wherein the environment is divided into a plurality of areas that comprise the predetermined area, and wherein determining the presence information and the actor type information within the predetermined area of the environment comprises:

receiving global information about the plurality of areas, wherein the global information comprises the presence information and the actor type information within the predetermined area of the environment; and

wherein the method further comprises;

dynamically changing safety classifications for at least one area of the plurality of areas within the environment based on the global information.

10. The method of claim 1, wherein the type of the actor is selected from at least the first type, the second type, and a third type, wherein the third type differs from both the first type and the second type, wherein the first type relates to a robotic actor, wherein the second type relates to a human actor, and wherein the third type relates to an unknown type of actor.

11. The method of claim 10, further comprising:

after determining that the type of the actor is the unknown type, the computing device providing an emergency safety rule to stop the robotic device.

12. A safety system, comprising:

a computing device, comprising;

one or more processors; and

data storage including at least computer-executable instructions stored thereon that, when executed by the one or more processors, cause the computing device to perform functions comprising;

determining presence information and actor type information about any actors present within a predetermined area of an environment using one or more sensors;

determining a particular safety classification of the predetermined area based on the presence and actor type information, wherein the particular safety classification comprises;

a low safety classification if the presence and actor type information indicates zero actors are present within the predetermined area,

a medium safety classification if the presence and actor type information indicates one or more actors are present within the predetermined area and that all of the one or more actors are of a predetermined first type, and

a high safety classification if the presence and actor type information indicates one or more actors are present within the predetermined area and that at least one actor of the one or more actors is of a predetermined second type; and

after determining the particular safety classification for the predetermined area, providing a safety rule for operating within the predetermined area to a robotic device operating in the environment, wherein the safety rule corresponds to the particular safety classification.

13. The safety system of claim 12, wherein the safety rule is at least one of:

a low safety rule corresponding to the low safety classification,

a medium safety rule corresponding to the medium safety classification, and

a high safety rule corresponding to the high safety classification,

wherein the low safety rule relates to fewer safety-related provisions of the robotic device than the medium safety rule, and wherein the medium safety rule relates to fewer safety-related provisions of the robotic device than the high safety rule.

14. The safety system of claim 13, wherein the robotic device comprises a local safety system, and wherein at least one of the low safety rule, the medium safety rule, and the high safety rule comprises a rule related to the local safety system.

15. The safety system of claim 12, further comprising the one or more sensors, wherein the one or more sensors are distributed throughout the environment.

16. The safety system of claim 12, wherein the environment is divided into a plurality of areas that comprise the predetermined area, wherein the one or more sensors comprise a first sensor having a first range and a second sensor having a second range, wherein a first area of the plurality of areas is associated with the first sensor and has a size that is based on the first range, and wherein the predetermined area is associated with the second sensor and has a size that is based on the second range.

17. The safety system of claim 12, wherein the one or more sensors comprise a Radio Frequency Identification (RFID) sensor configured to provide at least part of the actor type information, wherein each of the one or more actors is provided with an RFID device, and wherein the RFID sensor is configured to obtain at least part of the actor type information from the RFID device.

18. The safety system of claim 12, wherein the one or more sensors comprise a sensor configured to detect one or more patterns of light, wherein at least one actor of the one or more actors is provided with a light source configured to emit a pattern of light, and wherein the pattern of light conveys at least part of the actor type information.

19. The safety system of claim 12, wherein the environment is divided into a plurality of areas that comprise the predetermined area, and wherein determining the presence information and the actor type information within the predetermined area of the environment comprises:

receiving global information about the plurality of areas, wherein the global information comprises the presence information and the actor type information within the predetermined area of the environment; and

wherein the functions further comprise;

dynamically changing safety classifications for at least one area of the plurality of areas within the environment based on the global information.

20. A non-transitory computer readable medium having stored thereon instructions, that when executed by one or more processors of a computing device, cause the computing device to perform functions comprising:

determining presence information and actor type information about any actors present within a predetermined area of an environment using one or more sensors;

determining a particular safety classification of the predetermined area based on the presence and actor type information, wherein the particular safety classification comprises;

a low safety classification if the presence and actor type information indicates zero actors are present within the predetermined area,

a medium safety classification if the presence and actor type information indicates one or more actors are present within the predetermined area and that all of the one or more actors are of a predetermined first type, and

a high safety classification if the presence and actor type information indicates one or more actors are present within the predetermined area and that at least one actor of the one or more actors is of a predetermined second type; and

after determining the particular safety classification for the predetermined area, providing a safety rule for operating within the predetermined area to a robotic device operating in the environment, wherein the safety rule corresponds to the particular safety classification.

21. The non-transitory computer readable medium of claim 20, wherein the safety rule is at least one of:

a low safety rule corresponding to the low safety classification,

a medium safety rule corresponding to the medium safety classification, and

a high safety rule corresponding to the high safety classification.