System for the protection of humans in interaction with automated systems

Abstract

A system for the protection of human beings in interaction with automatic systems comprising a main device (100). The main device (100) comprises a frame (110) having an external wall, a number n of capacitive sensors (120) arranged on the external wall, each i-th capacitive sensor (120), with i=1,2,…,n, defining a reference point ci and configured to measure the distance Di of an external element (50) with respect to the reference point ci if the distance Di is less than a predetermined value Dmax, a control unit arranged to receive data regarding the distance Di detected by each i-th capacitive sensor (120). In particular, the main device (100) is configured to be located between an actuation element (10) and an end effector (20). Furthermore, they are provided a number m of auxiliary capacitive sensors (130) configured to be placed on the actuation element (10) and / or on the end effector (20), each j-th auxiliary capacitive sensor (130), with j=1,2,…,m, defining a reference point cj and configured to measure the distance Dj of an external element (50) with respect to the reference point cj if the distance Dj is less than a predetermined value Dmax.

Description

TITLESystem for the protection of humans in interaction with automated systems DESCRIPTIONField of the invention

[0001] The present invention is within the technical field of industrial safety and, in particular, of collaborative robotics.

[0002] In particular, the present invention relates to a system arranged to provide protection for human beings when interacting with automated systems.Description of the prior art

[0003] In the context of robotics, a collaborative application refers to an activity that involves cooperation and interaction between one or more robots and humans in a shared workspace.

[0004] Collaborative applications in robotics are designed to enable robots to work together with humans, improving overall efficiency, safety and productivity in various sectors and environments by relieving operators of hazardous or strenuous tasks. In order to ensure such collaboration, robots need to integrate interaction elements with the shared environment such as gripping organs (e.g. grippers, suction cups, machining tools). In this regard, robots andgrippers must be able to perform the planned operations while guaranteeing the safety of the human component.

[0005] In recent years, this sector has shown strong growth, yet there are still several challenges that this sector has to face, especially in terms of safety.

[0006] An even greater criticality is related to the safety aspects of the object that is grasped or manipulated by the end organ and over which, to date, there is only partial control through current commercial systems (such as environmental vision systems with the associated problems of robust and redundant reconstruction of the object's position and shape).

[0007] In FR2663105 and WO2014177677, two examples are described of devices equipped with capacitive proximity sensors suitable for installation on a robot to detect the presence of an operator within a predetermined control volume.

[0008] However, in both cases, it is necessary to mount the sensor elements on the end effector, resulting in an impediment in the movement and instability of the sensors themselves, unless the end effector itself is modified.Summary of the invention

[0009] It is therefore a feature of the present invention to provide a system for the protection of human beings ininteraction with automatic systems that is easily installed on an automated system having an end effector, such as a robotic system having a gripping element, without making any modifications thereto.

[0010] It is also a feature of the present invention to provide such a system that allows the generation of a control volume capable of enveloping both the actuating element and the end effector, including also a possible manipulated object.

[0011] It is still a feature of the present invention to provide such a system that further allows monitoring the pressures acting on the actuator and the end effector.

[0012] These and other objects are achieved by a system for the protection of human beings in interaction with automatic systems, the system comprising:- a main device comprising:— a frame having an external wall;— a number n of capacitive sensors arranged on the external wall, each i-th capacitive sensor (120), with i= 1,2,defining a reference point Ci and configured to measure the distance Di of an external element with respect to the reference point Ci if the distance Di is less than a predetermined value Dmax;- a control unit arranged to receive data regardingthe distance Di detected by each i-th capacitive sensor (120); whose main feature is that the main device is configured to be located between an actuation element and an end effector, and that a number m of auxiliary capacitive sensors are also provided configured to be placed on the actuation element and / or on the end effector, each j-th auxiliary capacitive sensor, with j = 1,2,defining a reference point Cj and configured to measure the distance Dj of an external element with respect to the reference point Cj if the distance Dj is less than a predetermined value ^max •

[0013] In particular, the number of sensors is equal to Nsensori= (Pext*20°) / 360°, where Dextis the outer diameter of the main device and Nsensoriis rounded down.

[0014] In particular, the auxiliary capacitive sensors are configured to be placed on the actuation element and / or on the end effector by magnetic and / or mechanical means.

[0015] Advantageously, shielding elements are provided (140) arranged for deviating and / or absorbing at least partially an electric field produced by the capacitive sensors and / or by the auxiliary capacitive sensors.

[0016] In particular, the shielding elements comprise two plates, arranged respectively at the top and bottom of theframe, and an internal shielding element of the control unit.

[0017] In this way, it is possible to appropriately shape the volume within which the capacitive sensors are arranged to detect the external element. In this way, it is possible to prevent, for example, the system from erroneously detecting components of the robot itself, such as the actuating element or end effector, or it is possible to reduce electromagnetic disturbances from external elements.

[0018] Advantageously, the frame comprises a quick coupling means arranged on the external wall and suitable for allowing a rapid connection and disconnection between the frame and the actuation element and between the frame and the end effector.

[0019] Thus, it is possible to install the system on an existing automatic system without having to make any modifications .

[0020] In particular, the quick-coupling means comply with ISO 9409.

[0021] Advantageously, each i-th capacitive sensor is associated with a corresponding i-th elastic element deformable with elastic constant Jq, and, in case that the external element comes into contact with a i-th element elastic, the control unit is arranged to calculate the forceFextthat the external element is exerting on the i-th elastic element according to the equation:Fext~ ki(Pi~xi) where Di is the distance of the external element with respect to the reference point Q, and Xi is a predetermined value relative to the geometry of the i-th element elastic.

[0022] In particular, each j-th auxiliary capacitive sensor is associated with a corresponding j-th auxiliary elastic element deformable with elastic constant kj, and wherein, in case that the external element comes into contact with a j-th auxiliary elastic element, the control unit is arranged to calculate the force Fextthat the external element is exerting on the j-th auxiliary elastic element according to the equation:Fext~ kj(.Dj~ Xj) where Dj is the distance of the external element with respect to the reference point Cj, and Xj is a predetermined value relative to the geometry of the j-th auxiliary elastic element.

[0023] In particular, the external wall comprises:- a first planar face;- a second planar face parallel to the first planar face; at least one side wall located between the planarfaces; the quick coupling means arranged on the first planar face and on the second planar face, the capacitive sensors arranged on the wall side.

[0024] Advantageously, the quick coupling means comprise a mechanical interconnection system or a magnetic and / or electromagnetic interconnection system.

[0025] For example, the mechanical interconnection system may comprise a bayonet mechanism or threaded elements.

[0026] In particular, an auxiliary device connected by cable to the main device is also provided, the auxiliary device comprising a power source arranged to power the main device.

[0027] In this embodiment, the control unit may be arranged inside the frame and arranged to transmit data via cable to the auxiliary device.

[0028] In particular, the auxiliary device is arranged to transmit data via cable to a remote control unit.

[0029] In particular, the control unit is adapted to transmit the data regarding the distancedetected by each i-th capacitive sensor digitally or analogically.

[0030] In particular, in the event that the control unit is arranged to transmit such data in a digital manner, the data may be transmitted directly to an external controller,such as an automatic system controller or a robotic system controller.

[0031] Alternatively, where the control unit is arranged to transmit such data in an analog manner (e.g., to minimise electronics footprint), such data must be processed and converted to a digital signal before being received by the external controller.

[0032] Alternatively, the main device also comprises an internal power source.

[0033] In particular, the control unit may be arranged inside the frame and be arranged to transmit data wirelessly to a remote control unit.

[0034] Advantageously, the main device also comprises at least one light source and / or a sound source configured to be operated by the control unit in response to the data regarding the distancesdetected by each i-th capacitive sensor.

[0035] In particular, the light source is an LED source.

[0036] In particular, the light and / or sound source may activate if a detected distanceis less than a predetermined threshold distance.

[0037] In particular, the light and / or sound source may activate in case that the force Fextdetected is greater than a predetermined threshold force.Brief description of the drawings

[0038] The invention will be now shown with the following description of its exemplary embodiments, exemplifying but not limitative, with reference to the attached drawings in which:- Fig. 1 shows a possible exemplary embodiment of the main device of the system for the protection of human beings in interaction with automatic systems, according to the present invention, wherein the capacitive sensors are visible;- Fig. 2 shows a possible exemplary embodiment of the main device of the system for the protection of human beings in interaction with automatic systems, according to the present invention, wherein are provided the elastic elements covering the capacitive sensors are present;Fig. 3 shows a possible installation of the system for the protection of human beings in interaction with automatic systems, according to the present invention, on a robotic system in which the actuation element is a robotic arm and the end effector is a gripping organ;Fig. 4 shows a possible exemplary embodiment of the main device of the system for the protection of human beings in interaction with automatic systems,again applied to a robotic system, in which shielding elements are present.Description of some preferred exemplary embodiments

[0039] With reference to Fig. 1, in a possible exemplary embodiment of the system for protection of human beings in the interaction with elements robotic, according to the present invention, the main device 100 comprises a frame110 having an external wall comprising a first planar face111 and a second planar face 112, parallel to each other, and a side wall 113.

[0040] The main device 100 also comprises a number n of capacitive sensors 120 arranged on the side wall 113. In particular, in this embodiment 6 capacitive sensors 120 are provided.

[0041] The system further comprises a control unit, which may be internal to the frame 110 or remotely located relative thereto. The system may also include more than one control unit, placed internally and / or externally to the frame 110 in varying numbers. For example, one or more control units may be placed internally to the capacitive sensors 120.

[0042] With reference even at Fig. 3, each i-th capacitive sensor 120 is adapted to measure the distance Di of an external element 50 with respect to a reference point Q,defined on the sensor itself, if this distance Di is less than a predetermined value Dmax. Such detected distance Di is then transmitted to the control unit and from the latter to a remote control unit, which may possibly be the control unit of the automatic system.

[0043] In particular, the transmission of the data concerning the detected distancecan be transmitted from the control unit to the remote control unit via cable and / or in wireless mode.

[0044] In particular, the control unit is adapted to transmit the data regarding the distancedetected by each i-th capacitive sensor 120 digitally or in an analog manner.

[0045] In particular, in the event that the control unit is arranged to transmit such data in a digital manner, the data may be transmitted directly to an external controller, such as for example the controller of the automatic system or the robotic system.

[0046] Alternatively, where the control unit is arranged to transmit such data in an analog manner (e.g., to minimise electronics footprint), such data must be processed and converted to a digital signal before being received by the external controller.

[0047] In one possible embodiment of the system, the main device 100 is connected via cable to an auxiliary devicecontaining a power source. Such an auxiliary device may in turn be connected by cable to the remote control unit.

[0048] In this way, the auxiliary device can supply the main device 100 with power and, at the same time, in the case where the control unit is internal to the frame 110, it can allow data transmission between the control unit and the remote control unit. Such an embodiment allows for high robustness and reliability in system power supply and data transmission .

[0049] In an alternative embodiment, the main device 100 internally comprises both the control unit and a power source. In this case, the data transmission between the control unit and the remote control unit takes place wirelessly. This embodiment allows for greater flexibility and independence of the main device 100.

[0050] The main device 100 further comprises quick coupling means arranged on both the first planar face 111 and the second planar face 112, so as to allow quick connection and disconnection, respectively, between the frame 110 and the actuation element 10 and between the frame 110 and the end effector 20.

[0051] Thus, the present invention allows rapid and reversible insertion of the main device into the automatic system without requiring any modification on the actuating element and / or the end effector.

[0052] In particular, the quick coupling means 150 may be of a mechanical type, for example through the use of specific mechanical interconnection systems, such as a bayonet mechanism or a system comprising threaded elements that follow the standards dictated by the relevant ISO (ISO 9409). Alternatively, the quick coupling means 150 may be of the magnetic and / or electromagnetic type.

[0053] With reference to Fig. 2, in a possible embodiment of the system, each i-th capacitive sensor 120 is associated with a corresponding i-th elastic element 125 deformable with elastic constant k^.

[0054] In this embodiment, in case that the external element 50 comes into contact with a i-th elastic element 125, the control unit is arranged to calculate the force Fextthat the external element 50 same is exerting on the i- th elastic element 125 according to the equation:where is the distance of the external element 50 with respect to the reference pointis a predetermined value relative to the geometry of the i-th elastic element 125.

[0055] Thus, the system according to the present invention makes it possible not only to monitor the proximity of an external element to the automatic system, but also thepressure it possibly exerts by coming into contact with the automatic system itself.

[0056] With reference to Fig. 3, the system also comprises a number m of auxiliary capacitive sensors 130 configured to be placed on the actuation element 10 and / or on the end effector 20.

[0057] As described for capacitive sensors 120, each j-th auxiliary capacitive sensor 130 defines a reference point Cj and is adapted to measure the distance Dj of an external element 50 with respect to this reference point Cj if the distance Dj is less than a predetermined value Dmax.

[0058] In a possible exemplary embodiment, analogous to that seen for the capacitive sensors 120, each j-th auxiliary capacitive sensor 130 is associated with a corresponding j-th auxiliary elastic element 135 deformable with elastic constant kj.

[0059] In case that the external element 50 comes into contact with a j-th elastic element 135, the control unit is arranged to calculate the force Fextthat the external element 50 is exerting on the j-th auxiliary elastic element 135 according to the equation:where Dj is the distance of the external element 50 with respect to the reference point Cj and Xj is a predetermined value relative to the geometry of the j-th auxiliary elasticelement 135.

[0060] In all described embodiments, the main device 100 may further comprise one or more light sources, for example LEDs, controlled by the control unit.

[0061] In this way, the control unit may provide visual feedback regarding the presence of an external element 50 at a distance less than a predetermined threshold distance or in the event that the detected force is greater than a predetermined threshold force. Of course, various light source switching modes may also be provided depending on the level of danger of the interaction between the external element 50 and the robot and the urgency of intervention.

[0062] Similarly, the system may also include an acoustic source arranged to provide acoustic feedback, in a manner entirely analogous to that described for the light source.

[0063] In addition, the remote control unit may be connected with the controller of the automatic system (e.g., a robotic cell) so as to be able to possibly control the automatic system to stop it or to control its movement as a result of the data detected by the sensors 120 and 130.

[0064] With reference to Fig. 4, in a possible embodiment, the system further comprises shielding elements 140 arranged to at least partially deflect and / or absorb the electric field produced by the capacitive sensors 120 and / or the auxiliary capacitive sensors 130. In particular, theshielding elements comprise two plates 141 and 142 arranged, respectively, at the top and bottom of the frame 110 and a hollow cylindrical central element 143 (open only at the top) arranged within the frame 110 and containing the control unit.

[0065] In this way, it is possible to suitably model the volume within which the capacitive sensors 120 and 130 are arranged to detect the external element 50. In this way, it is possible to avoid, for example, that the system mistakenly detects components of the automatic system itself, such as the actuation element 10 or the end effector 20, or it is possible to reduce electromagnetic disturbances given by external elements or elements internal to the system itself, such as the control unit.

[0066] It is specified that the shape of the volume shown in Fig. 4 is a purely illustrative shape and may vary according to application needs, by suitably modifying the positioning (both absolute and relative to the capacitive sensors 120) and the technical characteristics (material, thickness, shape, etc.) of the shielding elements 140.

[0067] The foregoing description exemplary embodiments of the invention will so fully reveal the invention according to the conceptual point of view, so that others, by applying current knowledge, will be able to modify and / or adapt for various applications such embodiment without furtherresearch and without parting from the invention, and, accordingly, it is therefore to be understood that such adaptations and modifications will have to be considered as equivalent to the specific embodiments. The means and the materials to realise the different functions described herein could have a different nature without, for this reason, departing from the field of the invention. It is to be understood that the phraseology or terminology that is employed herein is for the purpose of description and not of limitation.

Claims

CLAIMS1. A system for the protection of human beings in interaction with automatic systems, said system comprising: a main device (100) comprising:— a frame (110) having an external wall;— a number n of capacitive sensors (120) arranged on said external wall, each i-th capacitive sensor (120), with i= 1,2,defining a reference point Ci and configured to measure the distance Di of an external element (50) with respect to said reference point Ci if the distance Di is less than a predetermined value Dmax; a control unit arranged to receive data regarding the distance Di detected by each i-th capacitive sensor (120); said system characterized in that said main device (100) is configured to be located between an actuation element (10) and an end effector (20), and in that a number m of auxiliary capacitive sensors (130) are also provided configured to be placed on said actuation element (10) and / or on said end effector (20), each j-th auxiliary capacitive sensor (130), with j = 1,2,defining a reference point Cj and configured to measure the distance Dj of an external element (50) withrespect to said reference point Cj if the distance Dj is less than a predetermined value Dmax.

2. The system for the protection of human beings in interaction with automatic systems, according to claim 1, wherein shielding elements (140) are provided arranged for deviating and / or absorbing at least partially an electric field produced by said capacitive sensors (120) and / or by said auxiliary capacitive sensors (130).

3. The system for the protection of human beings in interaction with automatic systems, according to claim 1, wherein said frame (110) comprises a quick coupling means (150) arranged on said external wall and suitable for allowing a rapid connection and disconnection between said frame (110) and said actuation element (10) and between said frame (110) and said end effector (20).

4. The system for the protection of human beings in interaction with automatic systems, according to claim 1, wherein each i-th capacitive sensor (120) is associated with a corresponding i-th elastic element (125) deformable with elastic constant Jq, and wherein, in case that said external element (50) comes into contact with a i-th elastic element (125), said control unit is arranged to calculate the force Fextthat said external element (50) is exerting on said i-th elasticelement (125) according to the equation:Fext~ ki(.Di xj) where Di is the distance of said external element (50) with respect to said reference point Q, and Xi is a predetermined value relative to the geometry of said i-th elastic element (125).

5. The system for the protection of human beings in interaction with automatic systems, according to claim 1, wherein each j-th auxiliary capacitive sensor (130) is associated with a corresponding j-th auxiliary elastic element (135) deformable with elastic constant kj, and wherein, in case that said external element (50) comes into contact with a j-th auxiliary elastic element (135), said control unit is arranged to calculate the force Fextthat said external element (50) is exerting on said j-th auxiliary elastic element (135) according to the equation:Fext~ kj(.Dj~ Xj) where Dj is the distance of said external element (50) with respect to said reference point Cj, and Xj is a predetermined value relative to the geometry of said j-th auxiliary elastic element (135).

6. The system for the protection of human beings in interaction with automatic systems, according to claim 1, wherein said external wall comprises:a first planar face (111); a second planar face (112) parallel to said first planar face (111); at least one side wall (113) located between said planar faces (111,112); said quick coupling means (150) arranged on said first planar face (111) and on said second planar face (112), said capacitive sensors (120) arranged on said side wall (113).

7. The system for the protection of human beings in interaction with automatic systems, according to claim 1, wherein said quick coupling means (150) comprises a mechanical interconnection system or a magnetic and / or electromagnetic interconnection system.

8. The system for the protection of human beings in interaction with automatic systems, according to claim 1, wherein an auxiliary device connected by cable to said main device (100) is also provided, said auxiliary device comprising a power source arranged to power said main device (100).

9. The system for the protection of human beings in interaction with automatic systems, according to claim 1, wherein said main device (100) also comprises an internal power source.

10. The system for the protection of human beings in interaction with automatic systems, according to claim 1, wherein said main device (100) also comprises at least one light source and / or a sound source configured to be operated by said control unit in response to said data regarding the distancesdetected by each i-th capacitive sensor (120).

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