Motion limiting device and motion limiting method

• US 9,469,031 B2
• Filed: 03/13/2015
• Issued: 10/18/2016
• Est. Priority Date: 04/24/2014
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Saito, Fuminori
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US14/657,411
• Publication Number:
  US 20150306767A1
• Time in Patent Office: 585 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/40298 Manipulator on vehicle, wheels, mobile
• CPC Class Codes: G05B 2219/40323 Modeling robot environment for sensor based robot system
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 2201/0216 Vehicle for transporting goods in a warehouse, factory or similar
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A motion limiting device includes: detection means that detects environmental information around a robot; generation means that generates, based on the environmental information detected by the detection means, a three-dimensional environment model that includes an unobservable area and an observable area and indicates a working environment in which the robot operates, the unobservable area being the area where the environmental information cannot be detected by the detection means, and the observable area being the area where the environmental information can be detected by the detection means; and limiting means that limits a motion of the robot when it is determined that the robot has entered the unobservable area based on the three-dimensional environment model generated by the generation means.

Claims

1. A motion limiting device comprising:

detection means that detects environmental information around a robot;

generation means that generates, based on the environmental information detected by the detection means, a three-dimensional environment model that includes an unobservable area and an observable area and indicates a working environment in which the robot operates, the unobservable area being the area where the environmental information cannot be detected by the detection means, and the observable area being the area where the environmental information can be detected by the detection means; and

limiting means that limits a motion of the robot when it is determined that the robot has entered the unobservable area based on the three-dimensional environment model generated by the generation means, wherein

the limiting means limits at least one of a motion speed, a motion acceleration, and an operational force of the robot,

the robot comprises operation means for operating an operation target object and moving means for moving the robot, and

upon determining that the robot has entered the unobservable area based on the three-dimensional environment model generated by the generation means, the limiting means decreases at least one of (i) a motion speed limit value that determines an upper limit of the motion speed of the moving means and the operation means, (ii) a motion acceleration limit value that determines an upper limit of the motion acceleration of the moving means and the operation means, and (iii) an operational force limit value that determines an upper of the operational force of the moving means and the operation means.

2. The motion limiting device according to claim 1, wherein, upon determining that the robot is within a predetermined distance from the unobservable area and moves in a direction of the unobservable area based on the environmental information detected by the detection means and the three-dimensional environment model generated by the generation means, the limiting means decreases at least one of the motion speed limit value, the motion acceleration limit value, and the operational force limit value as the distance between the robot and the unobservable area decreases.

3. The motion limiting device according to claim 1, wherein, upon determining that the robot is within a predetermined distance from the obstacle in the observable area and moves in a direction of the obstacle based on the environmental information detected by the detection means and the three-dimensional environment model generated by the generation means, the limiting means decreases at least one of the motion speed limit value, the motion acceleration limit value, and the operational force limit value.

4. The motion limiting device according to claim 3, wherein, upon determining that the robot is within a predetermined distance from the obstacle in the observable area and moves in a direction of the obstacle based on the environmental information detected by the detection means and the three-dimensional environment model generated by the generation means, the limiting means decreases at least one of the motion speed limit value, the motion acceleration limit value, and the operational force limit value as the distance between the robot and the obstacle decreases.

5. A motion limiting method comprising:

detecting environmental information around a robot;

generating, based on the environmental information that is detected, a three-dimensional environment model that includes an unobservable area and an observable area and indicates a working environment in which the robot operates, the unobservable area being the area where the environmental information cannot be detected, and the observable area being the area where the environmental information can be detected; and

limiting a motion of the robot when it is determined that the robot has entered the unobservable area based on the three-dimensional environment model that is generated, wherein

the limiting step limits at least one of a motion speed, a motion acceleration, and an operational force of the robot,

the motion limiting method further comprises;

operating an operation target object, and

moving the robot, and

upon determining that the robot has entered the unobservable area based on the three-dimensional environment model generated by the generation step, the limiting step decreases at least one of (i) a motion speed limit value that determines an upper limit of the motion speed of moving the robot and operating the operation target object, (ii) a motion acceleration limit value that determines an upper limit of the motion acceleration of moving the robot and operating the operation target object, and (iii) an operational force limit value that determines an upper limit of the operational force of moving the robot and operating the operation target object.

6. A motion limiting device comprising:

an environment sensor that detects environmental information around a robot;

an environment model generation unit that generates, based on the environmental information detected by the environment sensor, a three-dimensional environment model that includes an unobservable area and an observable area and indicates a working environment in which the robot operates, the unobservable area being the area where the environmental information cannot be detected by the environment sensor, and the observable area being the area where the environmental information can be detected by the environment sensor; and

a parameter setting unit that limits a motion of the robot when it is determined that the robot has entered the unobservable area based on the three-dimensional environment model generated by the environment model generation unit, wherein

the parameter setting unit limits at least one of a motion speed, a motion acceleration, and an operational force of the robot,

the robot comprises a gripping and operating device that operates an operation target object and a moving device that moves the robot, and

upon determining that the robot has entered the unobservable area based on the three-dimensional environment model generated by the environment model generation unit, the parameter setting unit decreases at least one of (i) a motion speed limit value that determines an upper limit of the motion speed of the moving device and the gripping and operating device, (ii) a motion acceleration limit value that determines an upper limit of the motion acceleration of the moving device and the gripping and operating device, and (iii) an operational force limit value that determines an upper limit of the operational force of the moving device and the gripping and operating device.