A robotic system and a method for increasing safety measures

Abstract

This invention relates to a robotic system for increasing safety measures in a robotic setup involving cooperating humans and robots, and a corresponding method for increasing safety in the collaborations between an operator and a robot in processes involving a robotic setup involving cooperating humans and robots.

Description

[0001] A ROBOTIC SYSTEM AND A METHOD FOR INCREASING SAFETY MEASURES

[0002] TECHNICAL FIELD

[0003] This invention relates to a robotic system for increasing safety measures in a robotic setup involving cooperating humans and robots, and a corresponding method for increasing safety in the collaborations between an operator and a robot in processes involving a robotic setup involving cooperating humans and robots.

[0004] BACKGROUND ART

[0005] Collaborative robots, also known as cobots, are a type of robot designed to work alongside humans in a shared workspace. These robots are built with sensors and advanced technology that allow them to operate safely around people, without the need for physical barriers or safety enclosures.

[0006] Cobots are designed to collaborate with humans, often on tasks such as assembly, pick-and-place operations, or other repetitive tasks, with the aim of increasing productivity and efficiency in various industries, and are engineered to be easily programmable and adaptable, making them suitable for a wide range of applications.

[0007] US2020254610 Al discloses a method for controlling an industrial robot, and the method includes the robot's position data being detected, and environment data for an object in the robot's environment being captured with an environment detection unit.

[0008] US2009237499 Al discloses a method for observation of a person in an industrial environment.

[0009] CN117943700 discloses a barcode scanning system comprising a code engraving device and a barcode scanner, wherein a first barcode scanner and a second barcode scanner transmit workpiece coding information to facilitate traceability and management within the field of battery manufacturing. The use of machine vision means capable of providing imaging-based automatic inspection and analysis for such applications as automatic inspection, process control, and robot guidance in the industry is not disclosed.

[0010] Therefore, a robotic system for increasing safety measures in a robotic setup involving cooperating humans and robots disclosed herein has never been suggested.

[0011] SUMMARY OF THE INVENTION

[0012] It is an object of this invention to introduce an extra protective measure to ensure that the operator can cooperate safely with collaborative robots. The increased security measure according to the present invention ensures that humans and robots can collaborate on risky and dangerous work operations such as cutting up food products.

[0013] The increased security resides in the fact that the incoming workpiece is recognized by two independent cameras and in the fact that the system is configured to stop or terminate ongoing processes.

[0014] Therefore, in its first aspect, the invention provides a robotic system for increasing safety measures in a robotic setup involving cooperating humans and robots, which system comprises the following essential elements: i. a first machine vision means (1), which first machine vision means (1) is in communication with a processing means (3) and is configured for identification and / or characterization of an incoming workpiece (7), and for transmitting the acquired vision data to the processing means (3); ii. a second machine vision means (2), which second vision means is in communication with the processing means (3) and is configured for identification and / or characterization of an incoming workpiece (7), and for transmitting the acquired vision data to the processing means (3); and iii. the processing means (3), configured for processing vision data supplied by the first (1) and the second (2) machine vision means; and the robotic system of the invention may be further characterized in that the processing means (3) is configured for accomplishing a comparison between the vision data supplied by the first (1) and second (2) machine vision means in order to compare identification and / or characterization characteristics of the incoming workpiece (7) and to ensure that it is the same object / workpiece (7) that has been observed by the first (1) and second (2) machine vision means, and which processing means (3) is configured to interrupt further processing in cases of deviations.

[0015] In a second aspect, the invention provides a method for increasing safety in the collaborations between an operator and a robot in processes involving a robotic setup involving cooperating humans and robots, which method comprises the subsequent steps of: i. subjecting the incoming workpiece (7) to identification and / or characterization by the first machine vision means (1), and transmitting the acquired vision data to a processing means (3); ii. subjecting the incoming workpiece (7) to identification and / or characterization by the second machine vision means (2), and transmitting the acquired vision data to the processing means (3); and iii. subjecting the vision data, supplied according to steps i and ii, by the first (1) and second (2) machine vision means, to identification and / or characterization by the processing means (3), which processing means (3) is configured to compare the identification and / or characterization characteristics of the incoming workpiece (7) and to verify that it is the same object / workpiece (7) that has been observed by the first (1) and second (2) machine vision means; and iv. which processing means (3) is also configured to interrupt the further processing in cases of deviations between the identification and / or characterization characteristics of the incoming workpiece (7) as observed by the first (1) and second (2) machine vision means, respectively.

[0016] Other objects of the invention will be apparent to the person skilled in the art from reading the following detailed description and accompanying drawings.

[0017] Any combination of two or more of the embodiments described herein is considered within the scope of the present invention.

[0018] BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention is further illustrated by reference to the accompanying drawing, in which Fig. 1 illustrates the essential elements of the robotic system of the invention.

[0020] DETAILED DISCLOSURE OF THE INVENTION

[0021] In its first aspect, the invention provides a robotic system for increasing safety measures in a robotic setup involving cooperating humans and robots.

[0022] The robotic system of the invention may be characterized by comprising the following essential elements: i. a first machine vision means (1), which first machine vision means is in communication with a processing means (3) and is configured for identification and / or characterization of an incoming workpiece (7), and for transmitting the acquired vision data to the processing means (3); ii. a second machine vision means (2), which second machine vision means is in communication with the processing means (3) and is configured for identification and / or characterization of an incoming workpiece (7), and for transmitting the acquired vision data to the processing means (3); and iii. the processing means (3), configured for processing vision data supplied by the first (1) and the second (2) machine vision means; and the robotic system of the invention may be further characterized in that the processing means (3) is configured for accomplishing a comparison between the vision data supplied by the first (1) and second (2) machine vision means in order to compare identification and / or characterization characteristics of the incoming workpiece (7) and to ensure that it is the same object / workpiece (7) that has been observed by the first (1) and second (2) machine vision means, and which processing means (3) is configured to interrupt further processing in cases of deviations, i.e., the following process cannot be initiated if the incoming workpiece (7) is not recognized by the second machine vision means (2).

[0023] In cases of deviation, e.g., if it is found that the image data acquired by the second machine vision means (2) does not correspond to, or match, the image data acquired by the first machine vision means (1), so that the second machine vision means (2) cannot recognize the incoming workpiece (7), the processing means (3) shall be configured to interrupt further actions.

[0024] In one embodiment, the first machine vision means (1) is located within operating distance of a supply conveyor (6) supplying a workpiece (7).

[0025] In another embodiment, the second machine vision means (2) is placed on or within operating distance of the robotic tool (5). The robotic working tool (5) may in particular be a cutting tool, which cutting tool is configured to cut food items such as meat products in a slaughterhouse.

[0026] The vision means

[0027] Within the context of this application, a vision means comprises machine vision systems capable of providing imaging-based automatic inspection and analysis for such applications as automatic inspection, process control, and robot guidance in the industry.

[0028] In contrast to simple barcode scanning mechanisms, that read and translate codes applied to various workpieces, machine vision represents a combination of hardware and software capable of providing operational guidance to other devices based on the capture and processing of images and usually rely on digital sensors protected inside industrial cameras, with specialised optics to acquire images, so that computer hardware and software can process, analyse and measure various characteristics for decision making.

[0029] For fulfilling its objective, the vision means for use according to the invention off course must be positioned / located within operating distance the workpiece (7) to be analyzed.

[0030] In respect of the first machine vision means (1), this equipment shall be located within operating distance of a supply conveyor (6) supplying a workpiece (7).

[0031] In respect of the second machine vision means (2), this shall be placed on or within operating distance of the robotic tool (5).

[0032] The vision means for use according to the invention represents a combination of hardware and software capable of providing operational guidance to other devices based on the capture and processing of images and usually rely on digital sensors protected inside industrial cameras, with specialised optics to acquire images, so that computer hardware and software can process, analyse and measure various characteristics for decision making.

[0033] A vision system typically comprises lighting, a camera with a lens, an image sensor, a vision processing means, and communication means. The lens captures the image and presents it to the sensor in the form of light. The sensor in a machine vision camera converts this light into a digital image, which is then sent to the processor for analysis. Lighting illuminates the part to be inspected and allows its features to stand out so they can be clearly seen by camera.

[0034] The machine vision hardware components for use according to the invention, such as sensors and processors, are commercially available, and vision systems can be assembled from single components, or purchased as an integrated system, with all components in a single device.

[0035] The processing means

[0036] The processing means (3) for use according to the invention shall be configured for processing vision data supplied by the first (1) and the second (2) machine vision means.

[0037] This processing may be accomplished by conventional processors, e.g. in a PCbased system, or in a standalone vision system, and is performed by software and may consist of several steps. First, an image is acquired from the sensor. In some cases, preprocessing may be required to optimize the image and ensure that all the necessary features stand out. Next, the software locates the specific features, runs measurements, and compares these to the specification. Finally, a decision is made, and the results are communicated.

[0038] The method of the invention

[0039] In another aspect, the invention relates to a method for controlling an industrial robot for increasing safety in the collaborations between an operator and the robot in processes involving a robotic setup involving cooperating humans and robots by use of the robotic system of the invention.

[0040] The method of the invention may be applied to a workpiece (7) supplied on an incoming supply conveyor / conveyor belt (6), and may be characterized by comprising the following subsequent steps: i. subjecting the incoming workpiece (7) to identification and / or characterization by the first machine vision means (1), and transmitting the acquired vision data to a processing means (3); ii. subjecting the incoming workpiece (7) to identification and / or characterization by the second machine vision means (2), and transmitting the acquired vision data to the processing means (3); and iii. subjecting the vision data, supplied according to steps i and ii, by the first (1) and second (2) machine vision means, to identification and / or characterization by the processing means (3), which processing means is configured to compare the identification and / or characterization characteristics of the incoming workpiece (7) and to verify that it is the same object / workpiece (7) that has been observed by the first (1) and second (2) machine vision means; and iv. which processing means (3) is also configured to interrupt the further processing in cases of deviations between the identification and / or characterization characteristics of the incoming workpiece (7) as observed by the first (1) and second (2) machine vision means, respectively, thus securing that the following process cannot be initiated, if the workpiece (7) is not recognized by the second machine vision means (2).

[0041] DETAILED DESCRIPTION OF THE DRAWINGS

[0042] The present invention is further illustrated by reference to the accompanying drawing, in which:

[0043] Fig. 1 illustrates the essential elements of the robotic system of the invention: First machine vision means (1), Second machine vision means (2), Processing means / processor (3), Robot / cobot (4), Robotic tool / cutting tool (5), Supply conveyor / conveyor belt (6), Workpiece (7).

[0044] List of reference signs

[0045] This is a listing of various elements relating to the present invention.

[0046] Alternative / synonymous designations are separated by slashes:

[0047] 1. First machine vision means

[0048] 2. Second machine vision means

[0049] 3. Processing means / processor

[0050] 4. Robot / cobot

[0051] 5. Robotic tool / cutting tool

[0052] 6. Supply conveyor / conveyor belt

[0053] 7. Workpiece

Claims

CLAIMS1. A robotic system for increasing safety measures in a robotic setup involving cooperating humans and robots, which system comprises the following essential elements:

1. a first machine vision means (1), which first machine vision means is in communication with a processing means (3) and is configured for identification and / or characterization of an incoming workpiece (7) and for transmitting the acquired vision data to the processing means (3); ii. a second machine vision means (2), which second machine vision means is in communication with the processing means (3) and is configured for identification and / or characterization of an incoming workpiece (7) and for transmitting the acquired vision data to the processing means (3); and iii. the processing means (3), configured for processing vision data supplied by the first (1) and the second (2) machine vision means; and the robotic system of the invention may be further characterized in that the processing means (3) is configured for accomplishing a comparison between the vision data supplied by the first (1) and second (2) machine vision means in order to compare identification and / or characterization characteristics of the incoming workpiece (7) and to ensure that it is the same object / workpiece (7) that has been observed by the first (1) and second (2) machine vision means, and which processing means (3) is configured to interrupt further processing by securing that the following process cannot be initiated if the incoming workpiece (7) is not recognized by the second machine vision means (2).

2. A method for increasing safety in the collaborations between an operator and a robot in processes involving a robotic setup involving cooperating humans and robots, which method comprises the subsequent steps of: i. subjecting the incoming workpiece (7) to identification and / or characterization by the first machine vision means (1), and transmitting the acquired vision data to a processing means (3); ii. subjecting the incoming workpiece (7) to identification and / or characterization by the second machine vision means (2), and transmitting the acquired vision data to the processing means (3); and iii. subjecting the vision data, supplied according to steps i and ii, by the first (1) and second (2) machine vision means, to identification and / or characterization by the processing means (3), which processing means is configured to compare the identification and / or characterization characteristics of the incoming workpiece (7) andto verify that it is the same object / workpiece (7) that has been observed by the first (1) and second (2) machine vision means; and iv. which processing means (3) is also configured to interrupt the further processing in cases of deviations between the identification and / or characterization characteristics of the incoming workpiece (7) as observed by the first (1) and second (2) machine vision means, respectively, thus securing that the following process cannot be initiated, if the workpiece (7) is not recognized by the second machine vision means (2).

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