Improved sorting system
A single mobile robot system adapts its operation to both collaborative and non-collaborative zones, addressing flexibility and cost issues by switching modes based on zone identification, ensuring safe and efficient sorting.
Patent Information
- Application Number
- JP2025026013
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2024-02-21
- Filing Date
- 2025-02-20
- Publication Date
- 2025-09-02
Smart Images
Figure 2025128057000001_ABST
Abstract
Description
[Technical Field]
[0001] The present invention relates to an improved automated mobile robot (AMR) sorting system. [Background technology]
[0002] Various operators in the fields of e-commerce, shipping or third-party logistics are known to automate the sorting of products in their warehouses.
[0003] Some prior art sorting systems use mobile autonomous sorting robots, of which known systems use two types of robots: so-called "collaborative" and so-called "non-collaborative".
[0004] The collaborative robots are set to move to zones of the warehouse where humans also work, while the non-collaborative robots are directed to restricted zones where no human workers are present.
[0005] The collaborative robot is equipped with special safety devices that allow it to recognize the presence of a person in the immediate vicinity along its path, and constrain it to stay below a maximum speed threshold, safely stopping the robot at any time.
[0006] On the other hand, non-collaborative robots are designed to maximize performance and are therefore not subject to the constraints imposed on collaborative robots.
[0007] This type of system is inherently secure, but suffers from the drawback of being inflexible. Summary of the Invention [Problem to be solved by the invention]
[0008] The technical object underlying the present invention is to propose a method, a system and a program that can overcome the above-mentioned drawbacks of the prior art. [Means for solving the problem]
[0009] This technical object is achieved by a method, a system and a program implemented according to the attached claims.
[0010] Further features and advantages of the present invention will become more apparent in the following non-limiting description of a preferred but non-limiting embodiment of a sorting system, as illustrated in the accompanying drawings. [Brief explanation of the drawings]
[0011] [Figure 1] FIG. 1 is a schematic diagram of a plant in which a system according to the invention can be installed. [Figure 2] FIG. 2 is an explanatory diagram of the cooperating zones and the zone identification codes that are subject to the plant constraints. [Figure 3] FIG. 3 is an explanatory diagram of the collaboration zones and zone identification codes subject to plant constraints. [Figure 4] FIG. 4 is a diagram of the processing means of the system according to the invention. DETAILED DESCRIPTION OF THE INVENTION
[0012] With reference to the above figures of the drawings, the reference number 1 indicates a sorting system in which a system for controlling a robot 2 according to the invention can operate.
[0013] More particularly, the plant 1 is located in a structure which may for example consist of or have a storage system or may be another type of room or building or the like.
[0014] The plant 1 preferably comprises at least one restricted zone which is a zone of the "non-cooperating" type in the sense described above, and the plant 1 also preferably comprises at least one zone of the "cooperating" type 4. The two zones 3, 4 are connected or connectable by accesses and exits, if necessary with other zones in between.
[0015] The restricted zone 3 is preferably of a type that does not allow access to personnel 40 during normal work operations and lends itself to high productivity operating regimes.
[0016] More particularly, the restricted zone 3 may be physically restricted, i.e., enclosed by a fence or other barrier, or may be defined by virtual or conventional restrictions, for example, by a geofence or other means.
[0017] Preferably, the restricted zone includes points for loading and unloading the items that must be sorted; these loading points may be of the "active" type, and therefore may involve the use of powered conveyors, or of the "passive" type, i.e., may involve the use of chutes, passive roller conveyors, support shelves, etc.
[0018] The robot 2 of the proposed system, which is preferably a mobile autonomous sorting robot 2, operates between loading and unloading points.
[0019] Advantageously, the robot 2 according to the invention is designed to operate in both a "collaborative" and a "non-collaborative" mode.
[0020] In fact, the robot 2 according to the present invention is provided with the safety systems that are equipped in prior art collaborative robots 2, which safety systems are designed to keep these systems active when the robot 2 is in the collaboration zone 4 and to deactivate these systems (in whole or in part) when the robot 2 is in the non-collaboration zone 3.
[0021] More specifically, the robots 2 are equipped with at least one device 22 for detecting the presence of obstacles or people on their path 10, which remains active when the robots 2 are within the collaboration zone 4. This device may comprise a laser scanner 22 (schematically shown in FIG. 4). In the collaboration zone 4, the robots 2 are designed to move at a speed below a first safety threshold, which allows the robots 2 to immediately stop on site when detecting the presence of an obstacle or person. For example, the first safety threshold may be equal to or similar to 1.2 m / s. The traction device 20 is shown schematically in FIG. 4. In particular, the robots 2 may have at least one safety encoder for effective control of the translation speed.
[0022] Furthermore, the robot 2 comprises at least one conveyor 21 (schematically shown in Figure 4), which may for example be a motor-driven conveyor belt 21 designed to support and load / unload items. The robot 2 is designed to deactivate its conveyor 21 when it is in the collaboration zone 4, in particular to prevent the accidental release of heavy items that could injure people working in the collaboration zone 4. Advantageously, in a manner detailed below, the robot 2 according to the invention, when it is in the constrained zone 3, can deactivate the above-mentioned speed limitations and can therefore move within that zone at a speed above a first safety threshold and can start the conveyor 21, ready to carry out high-performance sorting.
[0023] Before describing the operation and features of the present invention in detail, it is understood that the system overcomes the cost and flexibility limitations of the prior art due to the fact that the robots 2 of the proposed system can be switched from a collaborative mode in which they can work in the same areas of the plant 1 where people 40 and moving elements that may constitute obstacles are present, to a non-collaborative mode in which they can work with high productivity in zones where people are prohibited.
[0024] In effect, instead of providing two types of robots for two types of zones, the present invention uses the same robot 2 in both zones, so that the same robot 2 can move within the collaboration zone 4, where it can optionally passively receive items from a person 40, working with the person in either case in complete safety, and then enter or leave the restricted zone 3, where no security measures are required and where the sorting operation can operate at maximum productivity.
[0025] Preferably, at least in the cooperation zone 4, and possibly in the remaining zones of the plant 1, there is a path 10 as shown diagrammatically in FIG. 1, defined by identifying elements of the following paths 11, 12.
[0026] The illustrated plant 1 has a closed loop path 10 passing through a constrained zone 3 and a cooperative zone 4 .
[0027] These route identifiers may be placed on the floor and may have a visible marking, for example a two-dimensional matrix barcode 11, 12 or a graphical representation such as a "data matrix" such as that shown in Figures 2 and 3. The identifiers of the routes 11, 12 may encode information about the zones of the plant 1 and may in each case include progressive numbers or other indices that contain said information and in particular identify the collaboration zones 4 and the constrained zones 3 and make it possible to establish the relative position of the robot 2 on the route 10. In the example shown in the drawings, the identifier of the constrained zone 3 is designated with the reference number "11" and the identifier of the collaboration zone with the reference number "12".
[0028] To detect the path identification elements 10, the robot 2 may be equipped with an optical acquisition device, such as a camera, which may be located at the bottom of the robot 2 and facing the floor.
[0029] The invention will be described below with respect to a method for managing one or more robots 2 and a system for controlling the robots 2 capable of operating the proposed method.
[0030] The method according to the invention makes it possible to determine in a reliable way whether the robot 2 is within the restricted zone 3 or not, and to use the robot 2 in complete safety both within the restricted zone 3 and within the collaborative zone.
[0031] The method comprises providing a constrained zone 3 in the structure and providing one or more robots 2 in the constrained zone 3. Preferably, the set of robots 2 subjected to the steps of the method are all of the robots 2 present in the constrained zone 3 in a predetermined work session, although it is not excluded that the robots 2 described below may be some of those present in the constrained zone 3.
[0032] A further step is to apply a restriction or inhibit at least one movement function of the robot 2. More specifically, a movement function that may be restricted or prevented is the already mentioned movement of the robot 2, and another movement function may be the operation of the above-mentioned conveyor 21 on which the robot 2 is equipped. Preferably, in a preliminary step, the robot 2 is in a restricted zone 3 in which both functions are restricted or inhibited. Furthermore, the devices for detecting people and obstacles may be limited or inhibited.
[0033] The term "inhibiting" may be considered a specific case of the term "limiting," where "limiting" means reduced or limited operation and "inhibiting" means the absence of operation. Thus, some functions may be limited and others inhibited, or all may be inhibited, or all may be limited, and all functions may be enabled, or some functions may be inhibited, or some functions may be enabled and others limited.
[0034] First, the robot 2 can be within the constrained zone 3 in two ways that are of primary importance for the purposes of the present invention.
[0035] In one case, the robot enters the constrained zone 3 during steady-state operation of the plant, and in the other case, the robot is already in zone 3 from a previous work session where it has been deactivated, i.e., switched off, and then activated to start a new work session. For example, the second case occurs when the plant has previously been shut down and is now restarted. Following are various method steps and system features that are applicable to both of the above methods, the identification of which is preferably specific to one case and the other.
[0036] For each robot 2, the presence of a predetermined number of first identification elements 11 in the restricted zone 3 is detected. Preferably, it is sufficient to detect at least the first identification elements 11, which may be specific path identification elements containing information identifying the restricted zone 3. For example, the first identification elements 11 may be a data matrix code applied to the floor of the restricted zone 3 (see FIG. 3). It is also possible for the first identification elements 11 to be other types of identification elements, including non-visual ones, for example of the radio frequency type.
[0037] For the purpose of detection, the robot 2 is equipped with means for detecting the identifying element, for example the optical sensor mentioned above.
[0038] A further very important step comprises detecting, for each of said robots 2, the presence of a predetermined number of second identification elements 13 in the restricted zone 3, these second identification elements being of a type different from the type of the first identification elements 11.
[0039] The second identification element 13, like the first identification element 11, is used to verify that the robot 2 is actually present within the restricted zone 3, so that the robot 2 can operate in a high-productivity mode without taking the necessary precautions in the collaboration zone 4.
[0040] In order for this check to be completely reliable, the second identification element 13 is advantageously of a type different from that of the first identification element 11. For example, if the first identification element 11 is of the visual type, the second identification element 13 can be of the radio frequency type, and vice versa. It should also be noted that these identification elements 11, 13 can be of another type, for example of the optical type (infrared or laser, etc.) or, in the case of recognition by imaging and / or artificial intelligence techniques, can be morphological characteristics of the restricted zone 3.
[0041] Thus, the difference between the first identification element 11 and the second identification element 13 is not merely that they are two physically separate elements, but preferably the first identification element 11 and the second identification element 13 differ in the type of technology required for their detection.
[0042] In this way, the system according to the invention has the advantage that it can check that the robot 2 is in the restricted zone 3 in a manner that can allow a degree of certainty that satisfies class PLd according to the EN ISO 13849-1 standard.
[0043] It should be noted that in different embodiments of the invention, the same technology can be used to detect the first and second identification elements via two separate detection channels. In fact, the robot 2 may have two separate devices associated with respective separate software modules that use the same type of technology, e.g., visual or radio frequency or other, to detect the two identification elements, which in this case are physically separated, either by coding or physically.
[0044] Preferably, the second identification elements 13 use RFID technology and they may comprise, for example, a number of transponders (or "tags") distributed within the restricted zone 3 along the perimeter (as shown diagrammatically in Figure 1), and the means for detecting the robot 2 as described above may comprise an RFID reader.
[0045] Again, for the purposes of inspecting the restricted zone 3, at least the second identification elements 13, or even for example a single transponder, may be sufficient to detect the presence. A key step of the method is that for each robot 2 for which the presence of said predetermined number of first identification elements 11 and the presence of said predetermined number of second identification elements (13) have been detected, the restriction is lifted or one or more of the movement functions of said one or more robots (2) are enabled. Furthermore, if the restriction has been lifted or one or more of the movement functions has been enabled for a predetermined number of robots 2 (preferably all), the robots are activated to perform a movement task in the restricted zone (3).
[0046] In fact, the functions according to the method, which may be some or all of the functions already mentioned, may, in some cases, if they were previously restricted, be now free to be executed, i.e. without being restricted by the system according to the invention, and if they were inhibited, be free to be activated without being restricted by the system. Variations are also possible in which one or more of the inhibited functions are activated with restrictions.
[0047] In fact, once both identification elements of the restricted zone 3 are present for these robots 2, it is certain that these robots 2 are within a zone 3 in which they can operate in non-cooperative mode, and therefore it is no longer necessary to follow the limitations and restrictions on the speed of translation, the activation of the conveyor 21 and the device for detecting the presence of people.
[0048] A further step of the method is to allow the movement of the robots 2, preferably all robots 2, within the constrained zone 3 at a speed below a predetermined maximum threshold.
[0049] As will be explained in more detail below, when the robots enter the restricted zone 3, the predetermined maximum threshold is preferably equal to the above-mentioned first safety threshold, but when they are already within the restricted zone 3 at the time of activation, the predetermined maximum threshold is equal to the second safety threshold. In this second case, in more general terms, some robots 2 (e.g. all) are first deactivated and activated, i.e. started up, and thus switched on in the restricted zone 3.
[0050] The second safety threshold is preferably smaller than the first safety threshold mentioned above, and more preferably equal to or less than a threshold determined by law, standard, or regulation (or other rule) that allows this type of robot 2 to be moved even in the presence of potential human personnel, regardless of the use of an anti-collision safety system. In practice, the robot 2 is also moved at a reduced speed, for a period that may be limited, so that any accidental accident does not have fatal consequences. For example, the second safety threshold is equal to or near 0.3 m / s.
[0051] Before removing the speed limit to allow the robot 2 to move at a speed above the first safety threshold applied to the collaboration zone 4, the robot 2 operates at a speed below the second safety threshold such that it is unlikely to detect both the first and second identification elements that identify the constrained zone 3 when stationary.
[0052] It should also be noted that the steps may have an order different from that displayed in the above description, which in itself constitutes a specific embodiment. For example, an initial translational movement at a speed below the second safety threshold may occur before detecting the first identification element 11 if it has not already been detected. Furthermore, the method step relating to the initial movement step at a speed below the second safety threshold is a given possibility if it appears most likely that the robot 2 will not detect both the first and second identification elements while stationary. However, the method may also comprise a step in which this movement within the constrained zone 3 at a speed below a predetermined maximum threshold of the robot 2 is activated for robots 2 for which the presence of a predetermined number of first identification elements 11 and a predetermined number of second identification elements 13 has not been confirmed. Conversely, specific embodiments are also possible in which the movement step at a speed below the predetermined maximum threshold in the constrained zone 3 is pre-implemented for all robots 2 before or after measuring the identification elements 11, 13.
[0053] More generally, the method may comprise, in the extreme case, allowing the robot 2 to move within the constrained zone 3 at a speed no greater than the above-mentioned maximum threshold before removing the movement restriction if a particular condition exists in which the robot is stationary.
[0054] It should be noted that in this description, the velocity thresholds mentioned above have values greater than zero.
[0055] As mentioned above, the present invention is also applicable when the robot 2 enters the restricted zone 3. In this case, it is preferable to have a preliminary stage in which the robot 2 moves within the restricted zone 3 at a speed equal to or lower than the first safety threshold mentioned above, i.e., in particular, the robot 2 can move within the restricted zone 3 at the same speed as the robot 2 moves within the collaboration zone 4. Preferably, the function of the robot 2 to detect people and obstacles is suppressed or limited within the restricted zone 3, and once the presence of a predetermined number of first identification elements 11 has been detected for the robot 2, the presence of a predetermined number of second identification elements 13 is detected. Further details are provided below.
[0056] Before describing further structural and functional features of the described system, a brief description will be given of the possible actions of the robot, according to a preferred embodiment, both when entering the constrained zone 3 and when already within the zone.
[0057] The robot 2 moves within the plant 1 along a path 10 defined by data matrix codes 11, 12, which vary depending on the zone in which they are located, and in particular whether the robot 2 is within a collaborative zone 4 or a constrained zone 3.
[0058] When the robot 2 is within the collaboration zone 4, it moves at a speed limited by a first safety threshold, its conveyor 21 is inhibited and the laser scanner is activated.
[0059] When the robot 2 enters the restricted zone 3, it can pass through an entrance section, such as an initial corridor. The entry into the restricted zone 3 can be recognized by acquisition means arranged at the access portal, which can comprise a photoelectric barrier or the like. After entering the restricted zone 3, the robot 2 initially has the same configuration as for the collaboration zone 4, its laser scanner 22 (or similar device) is activated, the conveyor 21 is inhibited and its traction device 20 is driven to move at a speed below a first safety threshold.
[0060] After entering, the robots 2 detect the code 11 located beneath them along the path 11 that passes through the restricted zone 3. At this point, the robot 2 continues to move at a speed limited by a first safety threshold, until it also detects the presence of at least one RFID transponder 13, at which point the speed limitation is removed (movement function), the conveyor 21 is restarted (transport function) and the laser scanner 22 is inhibited (function to detect people and obstacles). It is noted that the restricted zone 3 contains several transponders (or in any case second identification elements 13), which are preferably positioned so that they can be detected as the robot 2 passes along the path 10 defined by the data matrix code 11 (or by the first identification element, in any case).
[0061] If the robot 2 is already in the restricted zone 3, the robot 2 is first deactivated, ie switched off.
[0062] In this case, the method comprises a first activation step in which the robots are started. As a precaution, the conveyor 21 is inhibited and the laser scanner 22 can be activated. After measuring the data matrix code 11 and obtaining first information that the robots 2 are within a restricted zone, the robots 2 can move forward at a speed below the second safety threshold mentioned above. More specifically, the robots 2 are initially stationary until a predetermined number of first identification elements 11 are detected for each of them, and the robots 2 are then allowed to move at a speed below the second safety threshold until the presence of at least one RFID transponder 13 (or other second identification element) is detected for each of the robots 2, when the restriction constituted by the second safety threshold is lifted.
[0063] While in the restricted zone 3, the robot 2 can be sure that it is not in the collaboration zone 4 and can therefore sort at maximum productivity. The robot 2 leaves this zone towards the collaboration zone 4 where a translation speed limit is set and the conveyor 21 is inhibited while the laser scanner is restarted.
[0064] The system according to the invention also comprises processing means 6, which are described below.
[0065] It should be noted that generally speaking, in the present description, the processing means 6 is presented subdivided into separate functional modules for the sole purpose of clearly and completely describing their functionality.
[0066] In practice, the processing means 6 may consist of a single electronic device suitably programmed to carry out the described functions, and the various modules may correspond to hardware units and / or software routines forming part of this programmed electronic device.
[0067] These functions may alternatively be performed by multiple electronic devices on which the above-mentioned functional modules may be distributed.
[0068] Generally speaking, the processing means 6 may comprise one or more microprocessors or microcontrollers for executing instructions contained in memory modules, and the above functional modules may be distributed over multiple local or remote computers depending on the architecture of the network in which they reside.
[0069] Preferably, the processing means 6 comprise local processing units housed within each robot 2 and a central processing unit connected to each local unit by a conventional transceiver system. More preferably, the local processing units comprise an electronic control unit which may for example be a PC or in either case may comprise a microprocessor and an electronic security unit, i.e. may be a programmable logic control unit, which may for example be or comprise a PLC. These issues will be explained in more detail below.
[0070] The processing means 6 comprise at least one outlet module 61, 68 configured to inhibit or enable the above-mentioned functions of the robot 2, or to apply or remove restrictions to these functions.
[0071] There is also at least a first inspection module 62 configured to determine whether the detection means have detected the presence of a predetermined number of first identification elements 11, and there is also at least a second inspection module 63 configured to determine whether the detection means have detected the presence of a predetermined number of second identification elements 13 of a type different from the type of the first identification elements 11. The processing means 6 also comprises at least one advancement module 65 configured to move the robot 2.
[0072] According to an important aspect of the present invention, the processing means 6 may be configured to: applying or inhibiting a restriction to at least one movement function of the robot 2; an operation of detecting the presence of a predetermined number of first identification elements 11 for each of said robots 2; an operation of detecting the presence of a predetermined number of second identification elements 13 for each of said robots 2; for each of the one or more robots (2) for which the presence of a predetermined number of first identification elements (11) has been detected and the presence of the predetermined number of second identification elements (13) has been detected, removing the restriction or enabling one or more functions of the robot; When a predetermined number of robots 2 (preferably all) or one or more of the above functions are enabled, the above restrictions are lifted and the robots are operated to perform an operation task in the restricted zone 3, and the operation is performed.
[0073] With regard to the operations listed above, the same measures and variations apply once again as have already been illustrated for the corresponding steps of the method according to the invention.
[0074] In practice, based on the measurements carried out by the first test module 62 and the second test module 63, the outlet modules 61, 68 control modules designed to carry out operational functions.
[0075] In particular, each robot 2 comprises a traction device 20 with the above-mentioned traction motors which depend on the processing means 6, in particular on the propulsion module 65.
[0076] There is also a module for conveyor 66 that relies on outlet modules 61, 68 configured to operate the motor-driven belt (or similar device) of conveyor 21. Additionally, there may be a scanning module 67 configured to control a laser scanner 22 or other device for detecting people and obstacles.
[0077] Before describing possible operations of interaction between a team of robots and a central processing unit, some important characteristics of the processing means 6 are described in general terms.
[0078] It should be noted that if the processing means comprises the above-mentioned central unit, this may be configured to establish how the robot 2 moves to perform the assigned tasks, i.e. how the local units must drive the conveyor 21 and the traction unit 20 and when they should move. In practice, the central unit generates the work tasks for the robot 2, which define the times (numbers) and manner of movements of the traction unit 20 and the conveyor 21, and can also collect information on the state of the robot 2 for statistical or diagnostic purposes.
[0079] The local device may be configured both to manage the operation of the respective robot and therefore directly activate the conveyor 21 and the towing device 20, and also to directly activate the optical sensors of the cameras (or similar devices) mentioned above, and to manage the safe operation of the associated robot 2 and therefore activate the laser scanner 22, RFID reader and apply emergency protocols such as emergency braking which are obviously activated using the towing device 20.
[0080] More particularly, if present, the control device may be configured to manage operation, while the safety device may be configured to manage safety operation.
[0081] Preferably, the conveyor 66, the advancement module 65 and the first inspection module 62 are included in the local control device, and the scanning module 67 and the second inspection module 63 are included in the local safety device.
[0082] Preferably, the processing means comprises a first consent form 61 configured to inhibit or limit a device for detecting obstacles 22 of the human or robot when the presence of said predetermined number of first identification elements 11 and the presence of said predetermined number of second identification elements 13 is detected. The first consent form 61 can be included in a local device of the robot 2, for example a safety device.
[0083] Preferably, the processing means also has a second outlet module 68 configured to inhibit or limit the conveyor 21 and / or the towing device 20 (or equivalent device) and to release the inhibition by raising the conveyor 21 and / or the towing device 20 of the robot 2 when the presence of the predetermined number of first identification elements 11 and the presence of the predetermined number of second identification elements 13 is detected.
[0084] The second outlet module 68 may be included in a local device, such as a safety device, of the robot 2. The second outlet module 68 may be configured to allow the robot 2 to move within the restricted zone 3 at a speed equal to or less than a predetermined maximum threshold, which may be equal to a first safety threshold when the robot 2 enters the restricted zone 3 and a second safety threshold when the robot 2 has already entered the restricted zone 3.
[0085] In other words, the second outlet module 68 is configured to allow the robot 2 to move within the constrained zone 3 at a speed that is not the operating speed during a preliminary stage when both identification elements 11, 13 have not been detected, according to the mode of the method of the present invention described above.
[0086] The second outlet module 68 is preferably configured to disable the predetermined maximum threshold for robots 2 for which the presence of the predetermined number of first identification elements 11 has been detected and the presence of the predetermined number of second identification elements 13 has been detected. In one aspect of the invention, the central processing unit, which may form part of the plant 1 or may be located elsewhere, has a mission module 64 configured to generate mission signals designed to determine the movement of the robot 2, the actuation of respective local devices, as a function of the safety status of the robot 2.
[0087] In particular, the local device, more particularly the safety device if present, is configured to determine the safety status of each robot 2 based on that determined by said inspection modules 62, 63.
[0088] The safety device, or in any case the local device of the robot 2, also comprises a safety module 69 configured to generate a safety signal as a function of said predetermined safety status, designed to be received by the central device. More specifically, the central device preferably exchanges signals with the control device of the local device, which communicates with the safety device. Thus, in this aspect of the invention, the control device acts as an intermediary between the central device and the safety device.
[0089] The safety status refers to the safety state of the associated robot, i.e., being in a collaboration zone or being in a restricted zone. Other types of safety status are possible.
[0090] For example, other safety statuses may be presence in a restricted zone associated with detecting only the first identification element 11, presence in a restricted zone associated with detecting only the second identification element 13, or presence in a restricted zone associated with detecting both the first identification element and the second identification element 11, 13.
[0091] When robot 2 starts within the constrained zone, the system operates as follows.
[0092] The robots 2 are initially switched off and therefore stationary when the robots 2 are started, so the control unit of each robot 2 is programmed to carry out a restart procedure which is described below.
[0093] The local device of the robot 2 verifies the presence of a first identification element 11, for example the presence of one of the specific data matrix codes for the restricted zone 3, and sends a first presence signal to the central processing unit.
[0094] At this point, the local device of the robot 2 can uninhibit the traction device 20, but activates a speed limit to a second safety threshold. As already mentioned in the description of the proposed method, there are possible embodiments of the invention in which this step is performed according to a different order, or in which it is not necessary.
[0095] Once the presence of the second identification element 13 is detected, the local device applies uninhibited or restricted operation functions of the respective robot 2, i.e. in particular the movement and actuation of the conveyor 21. Conversely, the laser scanner 22 (or other detection device) can be inhibited.
[0096] In practice, the safety device allows the control devices of each robot 2 to communicate their safety status to the central unit and to remove restrictions or de-inhibit their actuation functions in an appropriate manner. When all robots 2 have communicated a safety status corresponding to their presence within a restricted zone 3, the central unit transmits a mission signal corresponding to the safety status, thereby enabling the robots 2 to perform the planned task.
[0097] The safety device is also designed to initiate an emergency protocol if the central device sends a movement mission that is inconsistent with the safety status, for example, if it commands the robot 2 to move at a speed above the maximum threshold without verifying that the robot 2 is actually within the restricted zone 3.
[0098] A variant exists in which, for the above-mentioned movements, if the robots 2 enter the constrained zone 3, the local device of each robot 2 can control the associated traction device 20 so as to maintain the speed used in the collaboration zone 4 and in any case move the robot 2 at a speed lower than the first safety threshold. In this case too, the central device directs the movements of the robots 2, i.e. establishes the mission, i.e. the tasks to be performed, and the local device carries out these instructions. In particular, a control device is preferred which directly activates the traction device 20 according to the work mission set by the central device after the safety device has released the device 20.
[0099] Preferably, the processing means 6 are not only designed to switch the robot 2 from collaborative mode to non-collaborative mode following the double check of the identification details described above, but the processing means 6 are also designed to perform the reverse switch, to be activated when the robot 2 moves from the restricted zone 3 to collaborative mode.
[0100] The processing means 6 - detecting, for each of said robots 2, the presence of a predetermined number of identification elements 12 in the collaboration zone 4, preferably such that the detection of an identification element such as, for example, a data matrix code 12, is sufficient; The system is configured to apply a restriction or inhibit at least one movement function of the robot (2) for the robot (2) for which the presence of a predetermined number of identification elements (12) in the collaboration zone (4) is detected.
[0101] As already explained, there is preferably one or more limiting or inhibiting functions between the movement of the robot 2 and the operation of the conveyor 21. The function for detecting people and obstacles is uninhibited when a collaboration zone is recognized.
[0102] Finally, the invention also comprises a computer program executed on processing means 6, designed to perform the steps of the described method.
Claims
1. A method for the management of one or more robots (2), comprising: The method comprises: establishing a restricted zone (3) within the facility; providing one or more robots (2) in said restricted zone (3); applying or restricting limits to one or more movement functions of the one or more robots (2); detecting, for each of the one or more robots (2), the presence of a predetermined number of first identification elements (11) in the restricted zone (3); detecting, for each of the one or more robots (2), the presence of a predetermined number of second identification elements (13) in the restricted zone (3), the second identification elements being of a type different from the type of the first identification elements (11); for each of the one or more robots (2) for which the presence of the predetermined number of first identification elements (11) has been detected and the presence of the predetermined number of second identification elements (13) has been detected, removing or enabling restrictions on the one or more movement functions; and when the restriction is lifted for a predetermined number of robots (2) or when one or more of the one or more operational functions are enabled, operating the predetermined number of robots (2) in the restricted zone (3) so that the predetermined number of robots (2) perform an operational task.
2. 2. The method of claim 1, wherein the robot is provided with a function for detecting a person or an obstacle, and the one or more operational functions are inhibited or limited when the presence of the predetermined number of first identification elements (11) is detected and the presence of the predetermined number of second identification elements (13) is detected for the predetermined number of robots (2).
3. 3. The method according to claim 1 or 2, wherein one of the one or more motion functions of the one or more robots (2) is movement of the one or more robots (2) in the constrained zone (3).
4. 4. The method of claim 3, wherein movement of the one or more robots (2) in the constrained zone (3) is permitted at a speed below a predetermined maximum threshold.
5. 5. The method of claim 4, wherein the predetermined maximum threshold is deactivated for each of the one or more robots (2) for which the presence of the predetermined number of first identification elements (11) is detected and the presence of the predetermined number of second identification elements (13) is detected.
6. 6. The method of claim 5, wherein the maximum threshold corresponds to a second safety threshold of the velocity of the robot (2) that is less than a first safety threshold of the velocity associated with a zone different from the constrained zone (3).
7. The method according to at least one of claims 1 to 6, wherein some of the robots (2) are preliminarily deactivated and activated within the restricted zone.
8. 8. The method according to claim 7, wherein one of the first identification element (11) and the second identification element (13) is of the visual type and the other of the first identification element (11) and the second identification element (13) is of the radio frequency type.
9. 9. The method according to claim 1, wherein in the restricted zone (3), a plurality of the first identification elements (11) are provided to define a path (10) for the one or more robots (2).
10. 10. The method of claim 9, wherein the restricted zone includes a plurality of second identification elements (13) arranged to detect the one or more robots (2) as they pass along the path (10).
11. 7. The method according to claim 5 or 6, wherein the one or more robots (2) are initially stationary until a predetermined number of first identification elements (11) are detected for each of the one or more robots (2), and then, when the restriction constituted by a maximum speed threshold is lifted for each of the one or more robots (2), the one or more robots (2) are allowed to move at a speed below the predetermined maximum threshold until the presence of the predetermined number of second identification elements (13) is detected.
12. 12. The method according to at least one of claims 1 to 11, wherein one of the one or more movement functions of the one or more robots (2) is the actuation of an associated conveyor (21) designed to move articles.
13. 13. The method of claim 12, wherein the activation is preliminarily inhibited and then enabled following detection of the presence of the predetermined number of first identification elements (11) and the predetermined number of second identification elements (11, 13).
14. A system for managing one or more robots (2), comprising: The system comprises: one or more robots (2) equipped with means for detecting an identification element (11) of a restricted zone (3) and one or more devices designed to perform a movement function; A processing means (6), comprising: at least one outlet module (61, 68) configured to inhibit or enable said operating function, or to apply or remove restrictions to said operating function; at least a first inspection module (62) configured to determine whether the detection means detects the presence of a predetermined number of first identification elements (11); and at least a second inspection module (63) configured to determine whether the detection means detects the presence of a predetermined number of second identification elements (13) of a type different from the type of the first identification elements (11), and at least one propulsion module configured to move the one or more robots (2), The processing means (6) applying or inhibiting restrictions on one or more movement functions of the one or more robots (2); an operation of detecting the presence of a predetermined number of first identification elements (11) for each of said one or more robots (2); detecting the presence of a predetermined number of second identification elements (13) for each of said one or more robots (2); for each of the one or more robots (2) for which the presence of the predetermined number of first identification elements (11) has been detected and the presence of the predetermined number of second identification elements (13) has been detected, removing the restriction or enabling one or more of the one or more operational functions of the one or more robots (2); and a processing means (6) configured to: operate a predetermined number of robots (2) to perform an operation task in the restricted zone (3) when the restriction is lifted for the predetermined number of robots (2) or when one or more of the one or more operation functions is enabled.
15. The one or more robots (2) are equipped with a device (22) for detecting the presence of an obstacle or a person; the processing means (6) comprises a scanning module (67) configured to control the device (22) for detecting a person or an obstacle, 15. The system of claim 14, wherein the processing means (6) is configured to inhibit or restrict the device (22) for each of those robots (2) for which the presence of the predetermined number of first identification elements (11) and the presence of the predetermined number of second identification elements (13) is detected.
16. 16. The system of claim 14 or 15, wherein the detection means comprises an outlet module (61, 68) configured to allow the one or more robots (2) to move within the restricted zone at a speed below a predetermined maximum threshold.
17. 17. The system of claim 16, wherein the outlet module (61, 68) is configured to deactivate the predetermined maximum threshold in a robot (2) in which the presence of the predetermined number of first identification elements (11) and the presence of the predetermined number of second identification elements (13) is detected.
18. 18. The system of claim 17, wherein the maximum threshold corresponds to a second safety threshold lower than a first safety threshold for the speed of the robot (2) associated with a zone different from the constrained zone (3).
19. 19. The system according to at least one of claims 14 to 18, wherein the processing means (6) is configured to detect, following activation of each of several robots in the restricted zone (3), the presence of a predetermined number of first identification elements (11), and thereafter move the one or more robots (2) at a speed not greater than a predetermined maximum threshold until the presence of the predetermined number of second identification elements (13) is detected for each of the one or more robots (2), and thereafter release the restriction constituted by the maximum speed threshold.
20. System according to at least one of claims 14 to 19, wherein the detection means comprise a first detection device of the optical type and a second detection device of the radio frequency type.
21. 21. The system according to at least one of claims 14 to 20, wherein each of the one or more robots (2) has a traction device (20) including a traction motor that is subject to the processing means (6), and one of the one or more movement functions of the one or more robots (2) is movement of the one or more robots (2) by means of the traction device (20).
22. 22. The system according to at least one of claims 14 to 21, wherein each of the one or more robots (2) has a motor-driven conveyor (21) designed to move articles and subject them to the processing means (6), and one of the operational functions of the one or more robots (2) is the actuation of the conveyor (21).
23. In the plant, The plant comprises: A system according to at least one of claims 14 to 22; a restricted zone (3) within the facility designed to accommodate the one or more robots (2) of the system; The restricted zone comprises a plurality of first identification elements (11) that define a path (10) for the one or more robots (2), and a plurality of second identification elements (13) positioned such that the one or more robots (2) can be detected when the one or more robots (2) pass along the path (10).
24. A computer program adapted to carry out the steps of the method according to any one of claims 1 to 13 when it runs on a processing means (6).