Human safety provision in mobile automation environments

• US 9,427,871 B2
• Filed: 04/30/2014
• Issued: 08/30/2016
• Est. Priority Date: 05/06/2013
• Status: Active Grant

• Current Assignee: ABB Schweiz AG (ABB Limited)
• Original Assignee: ABB Technology AG (ABB Limited)
• Inventors: Ciarelli, Gary, Nidamarthi, Srinivas
• Primary Examiner(s): Figueroa, Jaime
• Application Number:
  US14/265,701
• Publication Number:
  US 20140330433A1
• Time in Patent Office: 853 Days
• Field of Search: 700/245, 700/250, 700/255, 700/257, 700/258, 700/259, 318/567, 318/568.11, 318/568.12, 318/568.13, 318/568.14, 318/568.16, 318/568.18
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: F16P 3/14 the means being photocells or other devices sensitive without mechanical contact
• CPC Class Codes: G05B 2219/40203 Detect position of operator, create non material barrier to protect operator
• CPC Class Codes: G05B 2219/40298 Manipulator on vehicle, wheels, mobile
• CPC Class Codes: G05B 2219/40475 In presence of moving obstacles, dynamic environment
• CPC Class Codes: G05B 2219/45067 Assembly
• CPC Class Codes: G05B 2219/49141 Detect near collision and slow, stop, inhibit movement tool
• CPC Class Codes: G05B 2219/49152 Feedhold, stop motion if machine door is open, if operator in forbidden zone
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

A computer-implemented system and method for operating mobile automated workstations in a workspace including a workpiece is disclosed. A computer device defines an exclusionary volume having an outer exclusionary surface at least partially surrounding a mobile workstation that is operably disposed in the workspace. The computer device receives data from at least one sensor and determines the location of the workstation and humans within the workspace based on the data. The computer device activates an indicator and alters the motion of the workstation after detection of a human breaching the exclusionary volume or exclusionary surface.

Claims

1. A computer-implemented method for operating mobile automated workstations comprising:

defining with a computer device an exclusionary volume having an outer exclusionary surface at least partially surrounding a mobile workstation operably disposed in a workspace;

defining a buffer volume having an outer buffer surface with the computer device, the buffer surface at least partially surrounding the mobile workstation and the exclusionary volume, wherein a point on the buffer surface is further from a point on the workstation closest to the point on the buffer surface than a point on the exclusionary surface closest to the point on the workstation;

receiving data at the computer device from at least one sensor;

determining a location of the workstation within the workspace with the computer device based on the data;

determining a location of a human within the workspace with the computer device based on the data; and

,

performing at least one of activating an indicator with the computer device and altering predetermined movement of the mobile workstation with the computer device after detection of at least one of the human overlapping the exclusionary volume and crossing the exclusionary surface.

2. The method of claim 1, wherein at least one of the step of defining an exclusionary volume and defining a buffer volume is based upon at least one of a safety standard or governmental regulation.

3. The method of claim 1, wherein the step of defining an exclusionary volume and the step of defining a buffer volume occur prior to a predetermined motion of the workstation and the exclusionary volume and buffer volume enclose an envelope defined by the predetermined motion of the workstation.

4. The method of claim 1, further comprising:

performing at least one of activating a second indicator with the computer device and altering predetermined movement of the mobile workstation with the computer device after detection of at least one of the human overlapping the buffer volume and crossing the buffer surface.

5. The method of claim 1, wherein the step of defining an exclusionary volume is based upon at least one of a safety standard or governmental regulation.

6. The method of claim 1, wherein the step of defining an exclusionary volume is performed while the workstation undertakes translational motion relative to the workspace.

7. The method of claim 1, wherein the defining step occurs prior to a predetermined motion of the workstation and the exclusionary volume encloses an envelope defined by the predetermined motion of the workstation.

8. The method of claim 1 wherein the performing step includes performing both activating an indicator with the computer device and altering predetermined movement of the mobile workstation with the computer device after detection of at least one of the human overlapping the exclusionary volume and crossing the exclusionary surface.

9. A system for operating mobile automated workstations comprising:

a mobile workstation translatably disposed within a workspace configured to accept a workpiece;

a processor and a tangible computer-readable medium including instructions that upon execution by the processor;

define an exclusionary volume having an outer exclusionary surface at least partially surrounding the mobile workstation operably disposed in the workspace;

define a buffer volume having an outer buffer surface at least partially surrounding the mobile workstation and the exclusionary volume, wherein a point on the buffer surface is further from a point on the workstation closest to the point on the buffer surface than a point on the exclusionary surface closest to the point on the workstation;

determine a location of the workstation within the workspace based on data received from at least one sensor disposed at a location remote from the mobile workstation;

determine a location of a human within the workspace based on the data received from the at least one sensor; and

,

perform at least one of activating an indicator, and altering predetermined movement of the mobile workstation after detection of at least one of the human overlapping the exclusionary volume and crossing the exclusionary surface.

10. The system of claim 9 wherein at least one of the instructions that upon execution by the processor define a buffer volume and the instructions that upon execution by the processor define an exclusion volume is based upon a safety standard or governmental regulation.

11. The system of claim 9 wherein the instructions that upon execution by the processor define an exclusion volume are based upon a safety standard or governmental regulation.

12. The system of claim 9 further including the at least one sensor mounted on the workstation and configured to detect the position of the workstation within the workspace.

13. The system of claim 12 wherein the at least one sensor is configured to detect the position of at least one human occupant of the workspace.

14. The system of claim 9 wherein tangible computer-readable medium further includes instructions that upon execution by the processor define an exclusionary volume enclosing an envelope defined by a predetermined motion of the workstation.

20. The method of claim 9, further comprising:

performing at least one of activating a second indicator with the computer device and altering predetermined movement of the mobile workstation with the computer device after detection of at least one of the human overlapping the buffer volume and crossing the buffer surface.

15. A computer program product for operating mobile automated workstations comprising:

a tangible computer-readable medium including instructions that upon execution by a processor;

define an exclusionary volume having an outer exclusionary surface at least partially surrounding a mobile workstation operably disposed in a workspace;

define a buffer volume having an outer buffer surface at least partially surrounding the mobile workstation and the exclusionary volume, wherein a point on the buffer surface is further from a point on the workstation closest to the point on the buffer surface than a point on the exclusionary surface closest to the point on the workstation;

determine a location of the workstation within the workspace based on data received from at least one sensor disposed at a location remote from the workstation;

determine a location of a human within the workspace based on the data received from the at least one sensor; and

,

perform at least one of activating an indicator and altering predetermined movement of the mobile workstation after detection of at least one of the human overlapping the exclusionary volume and crossing the exclusionary surface.

16. The system of claim 15 wherein at least one of the instructions that upon execution by the processor define a buffer volume and the instructions that upon execution by the processor define an exclusion volume is based upon a safety standard or governmental regulation.

17. The system of claim 15 wherein the instructions that upon execution by the processor define an exclusion volume is based upon a safety standard or governmental regulation.

18. The system of claim 15 wherein tangible computer-readable medium further includes instructions that upon execution by the processor define an exclusionary volume enclosing an envelope defined by a predetermined motion of the workstation.

19. The system of claim 15, wherein the tangible computer-readable medium further includes instructions that upon execution by the processor activate a second indicator and alter predetermined movement of the mobile workstation after detection of at least one of the human overlapping the buffer volume and crossing the buffer surface.