Method and system for operating and/or monitoring a machine, in particular a robot

• US 9,999,975 B2
• Filed: 06/08/2016
• Issued: 06/19/2018
• Est. Priority Date: 06/08/2015
• Status: Active Grant

• Current Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Deutschland GmbH (Midea Group Co., Ltd)
• Inventors: Frensch, Ewald, Geiler, Torsten
• Primary Examiner(s): Mott, Adam R
• Application Number:
  US15/176,676
• Publication Number:
  US 20160354926A1
• Time in Patent Office: 741 Days
• 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: G05B 2219/39082 Collision, real time collision avoidance
• CPC Class Codes: G05B 2219/40476 Collision, planning for collision free path

Abstract

A method for operating and/or monitoring a machine, in particular, a multiple axis robot, includes determining whether an outer border of a first spatial area and an outer border of a second spatial area intersect each other, and detecting a penetration of the first spatial area by the second spatial area, in the event that the two outer borders intersect each other, wherein one of the two spatial areas is machine-fixed.

Claims

1. A method for at least one of operating or monitoring a multi-axis robot, the method comprising:

determining with a controller associated with the robot whether a first outer border of a first spatial area and a second outer border of a second spatial area intersect each other;

determining a penetration of the first spatial area by the second spatial area, in the event that the first and second outer borders intersect each other;

wherein one of the first or second spatial areas is machine-fixed;

determining that;

(a) the second spatial area does not penetrate the first spatial area, in the event that the first and second outer borders do not intersect each other, and

(b) neither of the first or second areas lies completely in the other of the first and second spatial areas; and

controlling a movement of the robot based on the determining steps.

2. The method of claim 1, further comprising:

determining whether a selected point of one of the first or second spatial areas lies inside the other of the first and second areas; and

determining that the one spatial area does not lie completely in the other area, in the event that the selected point does not lie inside the other area.

3. The method of claim 2, wherein the selected point of the one spatial area is a point of the outer border of the one spatial area.

4. The method of claim 1, wherein at least one of the first or second areas is defined in such a way that the at least one area cannot lie completely in the other of the first and second areas.

5. The method of claim 4, wherein the at least one area is defined according to at least one of the size or shape of the at least one area.

6. The method of claim 1, wherein at least one of the outer borders is described by discrete three-dimensional elements.

7. The method of claim 6, wherein the discrete three-dimensional elements are at least one of voxels or cubes.

8. The method of claim 6, wherein the discrete three-dimensional elements have a maximum or minimum dimension of at least 0.1 mm.

9. The method of claim 6, wherein the discrete three-dimensional elements have a maximum or minimum dimension of up to 1 m.

10. The method of claim 6, wherein the first and second outer borders are described by respective first and second lists of discrete three-dimensional elements, the method further comprising:

determining whether at least one element of the first list and at least one element of the second list have at least one common point; and

determining that the two outer borders intersect each other, in the event that at least one element of the first list and at least one element of the second list have at least one common point.

11. The method of claim 10, wherein the discrete three-dimensional elements of the first and second lists are identical.

12. The method of claim 10, wherein the discrete three-dimensional elements of the first and second lists are at least one of voxels or cubes.

13. The method of claim 10, further comprising:

transforming the three-dimensional elements of at least one of the first or second lists into a common reference system.

14. The method of claim 10, further comprising sorting at least one of the first or second lists.

15. The method of claim 10, further comprising:

determining whether the first and second lists have at least one common three-dimensional element; and

determining that the first and second outer borders intersect each other, in the event that the two lists have at least one common three-dimensional element.

16. The method of claim 1, wherein at least one of the first or second outer borders is closed.

17. The method of claim 1, wherein one of the first or second spatial areas is defined in relation to the robot, and the other of the first and second spatial areas is defined in relation to the surroundings or in relation to another machine.

18. The method of claim 17, wherein the other of the first and second spatial areas is defined in relation to another multi-axis robot.

19. A system for at least one of operating or monitoring a multi-axis robot, the system comprising:

means for determining whether a first outer border of a first spatial area and a second outer border of a second spatial area intersect each other;

means for determining a penetration of the first spatial area by the second spatial area, in the event that the first and second outer borders intersect each other;

wherein one of the two spatial areas is machine-fixed;

means for determining that;

(a) the second spatial area does not penetrate the first spatial area, in the event that the first and second outer borders do not intersect each other, and

(b) neither of the first or second areas lies completely in the other of the first and second spatial areas; and

means for controlling a movement of the robot based on the results of the determining means.

20. Computer program product having program code stored on a non-transitory computer-readable storage medium, the program code, when executed by a controller associated with a multi-axis robot, causing the controller to:

determine whether a first outer border of a first spatial area and a second outer border of a second spatial area intersect each other;

determine a penetration of the first spatial area by the second spatial area, in the event that the first and second outer borders intersect each other;

wherein one of the first or second spatial areas is machine-fixed;

determine that;

(a) the second spatial area does not penetrate the first spatial area, in the event that the first and second outer borders do not intersect each other, and

(b) neither of the first or second areas lies completely in the other of the first and second spatial areas; and

control a movement of the robot based on the determining steps.