Method and system for monitoring a robot arrangement
AssigneesKuka Aktiengesellschaft, KUKA Deutschland GmbH
InventorsAlbrecht Hoene, Elisabeth Schaertl, Markus Wuensch
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Abstract
A method for monitoring a robot arrangement, which robot arrangement has at least one robot includes capturing optical signals from a plurality of signal sources at least one sensor, wherein the signal sources and/or the sensor is/are positioned on the robot arrangement and triggering a monitoring reaction if a deviation of an actual arrangement of the captured optical signals from a desired arrangement of these signals exceeds a limit value. In one aspect, a reaction may be triggered if at least a predefined minimum number of signals from the desired arrangement is not present in the actual arrangement of the captured optical signals.
Claims13
A method for monitoring a robot arrangement that includes at least one robot and a robot controller, the method comprising:
- capturing optical signals from a plurality of signal sources with at least one sensor, wherein at least one of the plurality of signal sources or the at least one sensor is positioned on the robot arrangement;
- determining with the robot controller a deviation of an actual spatial arrangement of the captured optical signals from a desired spatial arrangement of the signals;
- and
- triggering by the robot controller a monitoring reaction of the at least one robot in response to the determined deviation exceeding a predetermined limit value;
- wherein the monitoring reaction is at least one of:
- producing at least one of an optical output, an acoustic output, or a haptic output, or
- causing a change in a predefined movement of the robot arrangement;
- wherein the desired spatial arrangement is determined on the basis of a determined position of the plurality of signal sources and the sensor to one another;
- wherein the determined position of the plurality of signal sources and the sensor to one another is based on at least one of a kinematic model or an optical model;
- and
- wherein determining the deviation comprises determining whether at least a predefined minimum number of signals from the desired arrangement are not present in the actual arrangement of the captured optical signals;
- and
- the actual arrangement is determined by the at least one sensor based on comparing at least a first signal captured with emitted optical signals to at least a second signal captured without emitted optical signals.
A system for monitoring a robot arrangement that includes at least one robot, the system comprising:
- at least one sensor designed to capture optical signals from a plurality of signal sources, wherein at least one of the plurality of the signal sources or the at least one sensor is positioned on the robot arrangement;
- and
- means for triggering a monitoring reaction in response to the determination that the deviation of an actual spatial arrangement of the captured optical signals from a desired spatial arrangement of the signals exceeds a predetermined limit value;
- wherein the monitoring reaction is at least one of:
- producing at least one of an optical output, an acoustic output, or a haptic output, or
- causing a change in a predefined movement of the robot arrangement;
- wherein the desired spatial arrangement is determined on the basis of a determined position of the plurality of signal sources and the sensor to one another;
- wherein the determined position of the plurality of signal sources and the sensor to one another is based on at least one of a kinematic model or an optical model;
- and
- wherein determining the deviation comprises determining whether at least a predefined number of signals from the desired arrangement are not present in the actual arrangement of the captured optical signals;
- and
- wherein the actual arrangement is determined by the at least one sensor based on comparing at least a first signal captured with emitted optical signals to at least a second signal captured without emitted optical signals.
A computer program product for monitoring a robot arrangement that includes at least one robot, the computer program product including a program code stored on a non-transient, computer-readable medium, the program code, when executed by a computer, causing the computer to:
- capture optical signals from a plurality of signal sources with at least one sensor, wherein at least one of the plurality of signal sources or the at least one sensor is positioned on the robot arrangement;
- determine a deviation of an actual spatial arrangement of the captured optical signals from a desired spatial arrangement of the signals;
- and
- triggering a monitoring reaction in response to the determined deviation exceeding a predetermined limit value;
- wherein the monitoring reaction is at least one of:
- producing at least one of an optical output, an acoustic output, or a haptic output, or
- causing a change in a predefined movement of the robot arrangement;
- wherein the desired spatial arrangement is determined on the basis of a determined position of the plurality of signal sources and the sensor to one another;
- wherein the determined position of the signal sources and the sensor to one another is based on at least one of a kinematic or an optical model;
- and
- wherein determining the deviation comprises determining whether at least a predefined minimum number of signals from the desired arrangement are not present in the actual arrangement of the captured optical signals;
- and
- wherein the actual arrangement is determined by the at least one sensor based on comparing at least a first signal captured with emitted optical signals to at least a second signal captured without emitted optical signals.
Dependencies are inferred from the claim text.