# US 10,875,177 B2 · Partitioning method for a work space of a robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,875,177 B2 - Document ID: US10875177B2 - Status: Granted - Kind: B2 - Application number: 16/149,128 - Filed: 2018-10-02 - Published: 2020-04-02 - Granted: 2020-12-29 - Earliest claimed: 2018-10-02 - Assignees: Techman Robot Inc. - Applicants: Quanta Storage Inc. - Inventors: Pei-Jui Wang; Chi-Mo Hsieh; Yun-Hsuan Tsai; Shao-Ji Shia; Shih-Jung Huang - Web page: https://patentgrep.com/patent/US10875177B2 ## CPC - B25J 9/1653: {parameters identification, estimation, stiffness, accuracy, error analysis} - B25J 9/1676: {Avoiding collision or forbidden zones} - B25J 9/1692: {Calibration of manipulator} - B25J 9/1697: {Vision controlled systems} - G05B 19/401: characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes (G05B19/19 takes precedence) - G05B 2219/39082: Collision, real time collision avoidance - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract The partitioning method for a working space of a robot includes defining the working space of the robot; setting a plurality of partitioning planes based on at least three non-collinear points in the working space; if the setting of the plurality of partitioning planes is completed, defining partitioning lines by intersecting the plurality of partitioning planes; dividing the plurality of partitioning planes into a plurality of designated sections and a plurality of extended sections based on the partitioning lines; combining the plurality of designated sections for constructing a full partitioning plane; partitioning the working space into two working regions based on the full partitioning plane; and setting the working region containing an origin of the robot as an operation region. Therefore, the partitioning process can be simplified. ## Claims ### Claim 1 A partitioning method for a working space of a robot, comprising: utilizing a human machine interface to define the working space of the robot; utilizing the human machine interface to set a plurality of partitioning planes for partitioning the working space via at least three non-collinear points set by positioning a tool center point (TCP) of the robot at the at least three non-collinear points; a controlling device defining a partitioning line by intersecting the plurality of partitioning planes after checking that the setting of the plurality of partitioning planes is completed; the controlling device dividing the plurality of partitioning planes into a plurality of designated sections and a plurality of extended sections based on the partitioning line; the controlling device combining the plurality of designated sections for constructing a full partitioning plane; the controlling device partitioning the working space into a plurality of working regions based on the full partitioning plane; wherein the plurality of working regions comprise a ceasing region and an operation region; setting a working region of the plurality of working regions containing an origin of the robot as the operation region, and setting another full partitioning plane for partitioning the operation region into a collaboration subregion and a full speed subregion; and reducing a moving speed of the robot to a level that causes no harm when the robot is detected to enter into the collaboration subregion. ### Claim 2 (depends on 1) The partitioning method of claim 1, wherein setting the plurality of partitioning planes comprises setting another partitioning plane after checking that the setting of the plurality of partitioning planes is not completed. ### Claim 3 (depends on 1) The partitioning method of claim 1, wherein the plurality of designated sections comprise the at least three non-collinear points. ### Claim 4 (depends on 3) The partitioning method of claim 3, wherein the plurality of extended sections does not comprise the at least three non-collinear points. ### Claim 5 (depends on 1) The partitioning method of claim 1, further comprising forbidding the robot from entering into the ceasing region, and ceasing the robot urgently when the robot is detected to enter into the ceasing region. ### Claim 6 (depends on 1) The partitioning method of claim 1, further comprising setting a part of the operation region containing the origin of the robot as the full speed subregion. ### Claim 7 (depends on 1) The partitioning method of claim 1, further comprising operating the robot at a full speed without interfering with an operator within the full speed subregion. ### Claim 8 (depends on 1) The partitioning method of claim 1, wherein utilizing the human machine interface to define the working space of the robot comprises utilizing the human machine interface to define the working space of the robot according to a size of the robot, a size of a tool operated by the robot, and a position where a base of the robot is configured.