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Anti-collision management of overlapping robotic movements

A robot and anti-collision technology, applied in the direction of instruments, manipulators, non-electric variable control, etc., can solve the problems of reducing efficiency, not being able to produce, and limiting the synchronization ability of robots

Inactive Publication Date: 2017-02-15
SIEMENS IND SOFTWARE GMBH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Other robots sharing this overlapping area are forced to stand by at this time and therefore cannot produce
[0003] Since robots often share the entire work area in very crowded workshops, the overlap areas are numerous and extensive, which results in a substantial increase in production cycle time
This reduces efficiency and greatly limits robot synchronization capabilities

Method used

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  • Anti-collision management of overlapping robotic movements

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Embodiment Construction

[0013] In this patent document, the following discussed Figure 1 to Figure 5 And the various embodiments used to describe the principles of the disclosure are by way of illustration only and should not be construed in any way as limiting the scope of the disclosure. Those skilled in the art will understand that the principles of the present disclosure may be implemented in any suitably arranged device. The various novel teachings of the present application will be described with reference to exemplary, non-limiting embodiments.

[0014] Cooperative execution of robotic operations of two or more robots Determining the most efficient synchronization to achieve minimum cycle time and increase efficiency requires consideration of various constraints, including: Collisions; whether the robots enter a deadlock situation; and which of the robots is given priority when cooperative execution is not possible due to collisions and / or deadlock situations.

[0015] The robot performs a ...

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Abstract

Systems and a method for anti-collision management of two or more robots with at least partially overlapping robotic movements are provided. The systems and method include receiving inputs from two or more single robots performing robotic operations along a trajectory defining for each robot a single swept volume. Discretized subswept volumes are created between robotic path locations for each single robot according to one or more discretization criteria such that the operation of each single robot moving along the known trajectory is controlled to allow synchronized execution of robotic operations. Only overlapping discretized subswept volumes are considered for synchronization. This enables focusing only on the relevant collision-prone areas. Deadlocks may be prevented by a look-ahead behavior. Smart synchronization methodology allows optimizing cycle time.

Description

technical field [0001] The present disclosure generally relates to computer-aided design, visualization, and manufacturing ("CAD") systems, product life management ("PLM") systems, product data management ("PDM") systems and Similar systems (generally, "Product Data Management" systems or PDM systems), and in particular to methods and systems for collision avoidance management of two or more robots with at least partially overlapping robot movements . Background technique [0002] Robots are widely used in industrial applications and perform robotic operations along trajectories. Collisions are to be avoided when two or more robots share the same space at the same time because collisions can cause severe damage to the robots and the workpieces handled by the robots. Currently, robot collision handling is achieved by defining overlapping regions where individual sweep volumes of individual robots overlap. Since the trajectories of separate individual robots sharing the ove...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCB25J9/1682G05D1/0289
Inventor 德罗尔·达维迪摩西·豪赞拉哈夫·迈德维尔
Owner SIEMENS IND SOFTWARE GMBH
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