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Method for avoiding collisions between two robots

A robot and robot system technology, applied in the direction of instruments, manipulators, general control systems, etc., can solve the problem that the robot's ability is not fully utilized

Active Publication Date: 2021-02-05
ABB (SCHWEIZ) AG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The drawback of this solution is that the capabilities of the robot are not fully utilized, especially if the overlapping area is large

Method used

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  • Method for avoiding collisions between two robots
  • Method for avoiding collisions between two robots

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Embodiment Construction

[0023] see figure 1 , the robot system 10 according to one embodiment of the present invention includes a first robot 20 having a first working area 30 and a second robot 40 having a second working area 50 . The first working area 30 overlaps the second working area 50 to thereby define an overlapping working area 60 . The first robot controller 70 controls the movement of the first robot 20 , and the second robot controller 80 controls the movement of the second robot 40 .

[0024] The robotic system 10 further includes a product conveyor 90 moving in a first direction 100 , a first container conveyor 110 moving in a second direction 120 , and a second container conveyor 130 also moving in the second direction 120 . The second direction 120 is opposite to the first direction 100 . The product conveyor 90 transports thereon articles 140 distributed randomly across the length and width of the product conveyor 90 . First and second container conveyors 110 , 130 transport ther...

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Abstract

In a robotic system (10) comprising multiple robots (20, 40) having overlapping work areas (60) there is a collision between the robots (20, 40) if they are allowed to operate simultaneously within the overlapping work area (60) risks of. A method for avoiding a collision between two robots (20, 40) in such a robotic system (10) comprises the steps of: providing (320) an First move information (240) about the first robot move (190); obtain (340) the first move information (240); determine (350) for the plurality of second robot moves (210) whether they involve the first and The risk of collision between the second robot (20, 40); and performing (360) one of the second robot moves (210). In a robotic system (10) configured to perform pick-and-place tasks, each robot (20, 40) often has a pick-and-place task that can be performed depending on the item (140) to be picked or the empty place (160) to place the item (140) (360) of the available robot moves. Information about the movement of one robot (20, 40) enables the robot controller (70, 80) of another robot (20, 40) with an overlapping work area (60) to choose among the available robot movements that do not involve An appropriate one for the collision risk between two robots (20, 40).

Description

technical field [0001] The present invention relates to collision avoidance in robotic systems comprising robots with overlapping work areas. Background technique [0002] In this disclosure, the term "work area" is used to denote a volume within which a robotic tool can operate, which volume is constrained by the mechanical structure of the robot. It was previously known to avoid collisions between robots by separating them sufficiently so that their work areas do not overlap. However, such a robot system has a drawback that its footprint becomes large. To reduce the footprint, the robots are placed close together such that their work areas overlap. Different solutions are offered to avoid collisions in robotic systems with overlapping work areas. For example, the working range of a robot can be limited by software to be smaller than the working area. A buffer zone in which the robots are not allowed to operate can thus be defined between the robots, so that they never ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1676G05B2219/39135G05B2219/40497G05B2219/45063
Inventor A·拉格
Owner ABB (SCHWEIZ) AG
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