Control system, method and computer program

• US 7,957,838 B2
• Filed: 12/09/2004
• Issued: 06/07/2011
• Est. Priority Date: 12/15/2003
• Status: Expired due to Fees

• Current Assignee: ABB AB (ABB Limited)
• Original Assignee: ABB AB (ABB Limited)
• Inventors: Poljén, Christian, Hedenfalk, Fredrik
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): Figueroa; Jaime
• Application Number:
  US10/583,091
• Publication Number:
  US 20070250213A1
• Time in Patent Office: 2,371 Days
• Field of Search: 700/245, 700/247, 700/248, 700/264, 901/2, 901/3, 901/4, 901/8, 901/49, 318/568.11, 318/568.13, 318/568.14, 345/156, 345/161, 345/168, 345/173
• US Class Current: 700/264
• CPC Class Codes: B25J 13/065 comprising joy-sticks
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: G05B 2219/35489 Discriminate, different colour, highlight between two states
• CPC Class Codes: G05B 2219/39448 Same teach pendant connects to many robot controllers over network
• CPC Class Codes: G05B 2219/40314 Simulation of program locally before remote operation
• CPC Class Codes: G05B 2219/40515 Integration of simulation and planning

Abstract

A control system for a plurality of mechanical units, namely robots and/or external axes. A manually-operated control, such as a joy-stick or key panel, is adapted to move at least one of the mechanical units or part thereof. The control system includes an indicator adapted to indicate whether the at least one mechanical unit or part thereof that is to be moved is associated with any other mechanical unit(s) or part(s) thereof and consequently indicate that movement of the at least one mechanical unit or part thereof will also result in the movement of the indicated associated mechanical unit(s) or part(s) thereof.

Claims

1. A control system for controlling the movements of a plurality of mechanical units, wherein at least two of the mechanical units have been programmed to perform a task, wherein the movements of the mechanical units are coordinated, the control system comprising:

an automatic control configured to automatically control the movements of the mechanical units to perform the task in dependence on stored movement instructions for each of the mechanical units, and to execute the movement instructions for at least two of said mechanical units at a same time in order to coordinate the movements of the mechanical units;

a manual control configured to manually control the movements of at least one of the mechanical units or a portion of the at least one of the mechanical units based on input from a manually-operated control member; and

an indicator configured to indicate whether a mechanical unit, which has been selected to be manually moved based on input from the manually-operated control member, is associated with one of the other mechanical units as a result of the task, and consequently to indicate that movement of the selected mechanical unit will also result in movement of the associated mechanical unit.

2. The control system according to claim 1, wherein said indicator provides at least one of the following signals or a combination thereof:

visual, acoustic, tactile.

3. The control system according to claim 1, wherein the indicator comprises at least one of a graphical or a text interface that displays which mechanical units, or parts thereof, are associated with one another with at least one of graphical symbols or text messages representing the plurality of mechanical units or parts thereof.

4. The control system according to claim 3, wherein the at least one of a graphical and/or or a text interface is arranged to indicate information on how the, or each, mechanical unit, or part thereof, associated with said at least one mechanical unit, or part thereof, that is to be moved will move on movement of said at least one mechanical unit or part thereof.

5. The control system according to claim 1, wherein an indicator is arranged on each of the mechanical units or part thereof to display which mechanical units are associated with one another, either constantly or when such information is requested.

6. The control system according to claim 1, wherein the indicator is mounted on a stationary or portable programming unit.

7. The control system according to claim 1, further comprising:

a confirmation unit configured to confirm that an operator is aware of which mechanical unit(s) or part(s) thereof will move on activation of the manual control.

8. The control system according to claim 7, further comprising:

a disengagement unit configured to disengage the manual control until the operator has confirmed that he/she is aware of which mechanical unit(s) or part(s) thereof will move on activation of the manual control.

9. The control system according to claim 1, further comprising:

a disassociation unit configured to disassociate one or more of the mechanical units or parts thereof that are associated with the mechanical unit or part thereof that is to be moved from said at least one mechanical unit or part thereof that is to be moved.

10. The control system according to claim 1, further comprising:

an association unit configured to associate one or more of the mechanical units or part thereof to said at least one mechanical unit or part thereof that is to be moved.

11. The control system according to claim 7, wherein the confirmation unit is initiated by one click of a computer mouse or by pressing a keyboard tangent or push button, or by touching an icon on a touch screen.

12. The control system according to claim 1, wherein the manual control is portable.

13. The control system according to claim 1, wherein the manual control is located in the vicinity of the plurality of mechanical units.

14. The control system according to claim 1, wherein the manual control is located at a location remote to the plurality of mechanical units.

21. The control system according to claim 9, wherein the disassociation unit is initiated by one click of a computer mouse or by pressing a keyboard tangent or push button, or by touching an icon on a touch screen.

22. The control system according to claim 10, wherein the association unit is initiated by one click of a computer mouse or by pressing a keyboard tangent or push button, or by touching an icon on a touch screen.

23. The control system according to claim 1, wherein the mechanical units comprise robots and external axes.

24. The control system according to claim 1, wherein the manually-operated control member comprises a joy-stick or key panel.

15. A method for moving a plurality of mechanical units using a manual control, wherein at least two of the mechanical units have been programmed to perform a task, wherein movements of the mechanical units are coordinated, the method comprising:

automatically controlling movements of the mechanical units to perform the task in dependence on stored movement instructions for each of the mechanical units;

executing the movement instructions for at least two of said mechanical units at a same time in order to coordinate the movements of the mechanical units;

manually controlling the movements of at least one of the mechanical units or a portion of the at least one of the mechanical units based on input from a manually-operated control member; and

indicating whether a mechanical unit, which has been selected to be manually moved based on input from the manually-operated control member, is associated with one of the other mechanical units as a result of the task, and consequently to indicate that movement of the selected mechanical unit will also result in movement of the associated mechanical unit.

16. The method according to claim 15, further comprising:

informing how the, or each, mechanical unit or part thereof associated with said at least one mechanical unit or part thereof that is to be moved will move on movement of said at least one mechanical unit or part thereof.

17. The method according to claim 15, further comprising:

an operator having to confirm that he/she is aware of which mechanical units or parts thereof are associated with said at least one mechanical unit or part thereof that is to be moved before the manually-operated control member is activated.

18. The method according to claim 17, wherein said confirmation is initiated by one click of a computer mouse or by pressing a keyboard tangent or push button, or touching an icon on a touch screen.

25. The method according to claim 15, wherein the mechanical units comprise at least one of robots or external axes.

26. The method according to claim 15, wherein the manually-operated control member comprises a joy-stick or key panel.

19. A computer program product, comprising:

a non-transitory computer readable medium; and

computer program code recorded on the computer readable medium for making a computer or processor carry out a method comprising

automatically controlling movements of the mechanical units to perform a task in dependence on stored movement instructions for each of the mechanical units;

executing the movement instructions for at least two of said mechanical units at a same time in order to coordinate the movements of the mechanical units;

manually controlling the movements of at least one of the mechanical units or a portion of the at least one of the mechanical units based on input from a manually-operated control member; and

indicating whether a mechanical unit, which has been selected to be manually moved based on input from the manually-operated control member, is associated with one of the other mechanical units as a result of the task, and consequently to indicate that movement of the selected mechanical unit will also result in movement of the associated mechanical unit.

20. The computer program product according to claim 19, wherein the computer program code makes the computer or processor carry out the method further comprising

prompting an operator to do at least one of the following:

select a mechanical unit or part thereof that is to be moved, associate or disassociate one or more other mechanical unit or part thereof with/from the mechanical unit or part thereof to be moved; and

confirming the selection of mechanical units or parts thereof to be moved before the operator'"'"'s command is executed.