US2022234209A1PendingUtilityA1

Safe operation of machinery using potential occupancy envelopes

67
Individually held — no corporate assignee on recordPriority: Aug 23, 2019Filed: Mar 30, 2022Published: Jul 28, 2022
Est. expiryAug 23, 2039(~13.1 yrs left)· nominal 20-yr term from priority
Inventors:Ilya A. KriveshkoMarek WartenbergClara VuScott DenenbergNicole AucoinAlberto Moel
B25J 9/163B25J 9/1666G05B 2219/40203B25J 9/1676B25J 9/1697
67
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Claims

Abstract

Various embodiments for enforcing safe operation of machinery performing an activity in a three-dimensional (3D) workspace includes computationally generating a 3D spatial representation of the workspace; computationally mapping 3D regions of the workspace corresponding to space occupied by the machinery and a human; and based thereon, restricting operation of the machinery in accordance with a safety protocol during physical performance of the activity.

Claims

exact text as granted — not AI-modified
What is claimed is: 
     
         1 . A system for spatially modeling a workspace containing machinery, the system comprising:
 a controller for the machinery, the controller having a safety-rated component and a non-safety-rated component;   an object-monitoring system configured to computationally generate a first potential occupancy envelope for the machinery and a second potential occupancy envelope for a human operator when performing a task in the workspace, the first and second potential occupancy envelopes spatially encompassing movements performable by the machinery and the human operator, respectively, during performance of the task,   wherein (i) the non-safety-rated component of the controller is configured to establish a velocity of the machinery and (ii) the object-monitoring system is configured to update the first potential occupancy envelope in response to a safety-rated signal from the controller or an elapsed time.   
     
     
         2 . The system of  claim 1 , wherein object-monitoring system is further configured to computationally detect a predetermined degree of proximity between the second potential occupancy envelope and the updated first potential occupancy envelope and to thereupon cause the controller to put the machinery in a safe state. 
     
     
         3 . The system of  claim 2 , wherein the predetermined degree of proximity corresponds to a protective separation distance. 
     
     
         4 . The system of  claim 2 , wherein the object-monitoring system is configured to (i) detect a current state of the machinery, (ii) compute parameters for putting the machinery in the safe state from the current state, and (iii) communicate the parameters to the controller when the predetermined degree of proximity is detected. 
     
     
         5 . The system of  claim 2 , wherein the object-monitoring system is configured to, prior to operation of the machinery, compute default parameters for putting the machinery in a safe state, the parameters comprising a safe velocity and spatially defining a keep-in zone. 
     
     
         6 . The system of  claim 5 , wherein the object-monitoring system is configured to send a trigger signal to the controller to put the machinery into the safe state in accordance with the default parameters when the predetermined degree of proximity is detected. 
     
     
         7 . The system of  claim 2 , wherein the safety-rated component of the controller is further configured to report when the machinery is in a safe state. 
     
     
         8 . The system of  claim 7 , wherein the safe state corresponds to a safe reduction in velocity. 
     
     
         9 . The system of  claim 7 , wherein the safe state corresponds to cessation of operation. 
     
     
         10 . The system of  claim 1 , further comprising a computer vision system for monitoring the machinery and the human operator, the object-monitoring system being configured to reduce or enlarge a size of the first potential occupancy envelope in response to movement of the operator detected by the computer vision system. 
     
     
         11 . The system of  claim 4 , wherein the parameters are communicated to the non-safety-rated component of the controller. 
     
     
         12 . The system of  claim 4 , wherein the object-monitoring system is further configured to communicate to the controller that the machinery may be taken out of the safe state in accordance with an enlarged potential occupancy envelope. 
     
     
         13 . The system of  claim 12 , wherein the safety-rated component of the controller is configured to enforce the reduced or enlarged first potential occupancy envelope as a keep-in zone. 
     
     
         14 . The system of  claim 1 , wherein the object-monitoring system is configured to update the first potential occupancy envelope in response to an elapsed time corresponding to an expected time for the machinery to reach a predetermined velocity. 
     
     
         15 . The system of  claim 1 , wherein the machinery is a robot. 
     
     
         16 . A system for enforcing safety in a workspace containing machinery, the system comprising:
 a controller for the machinery, the controller having a safety-rated component and a non-safety-rated component;   an object-monitoring system configured to computationally generate a first potential occupancy envelope for the machinery and a second potential occupancy envelope for a human operator when performing a task in the workspace, the first and second potential occupancy envelopes spatially encompassing movements performable by the machinery and the human operator, respectively, during performance of the task,   wherein the object-monitoring system is configured to detect an unsafe condition based on the first and second potential occupancy envelopes, and thereupon signal the safety-rated component of the controller to enforce a safety condition.   
     
     
         17 . The system of  claim 16 , wherein signaling the safety-rated component of the controller comprises communicating parameters for putting the machinery in the safe state from a current state or instructing the controller to enforce pre-stored default safety parameters. 
     
     
         18 . The system of  claim 16 , wherein the object-monitoring system is configured to further signal the safety-rated component of the controller after a delay. 
     
     
         19 . The system of  claim 18 , wherein the delay corresponds to an expected time for the machinery to enter a safe state. 
     
     
         20 . The system of  claim 18 , wherein the further signaling comprises communicating, to the safety-rated controller component, safety parameters and a command to operate the machinery within the parameters. 
     
     
         21 . The system of  claim 19 , wherein the object-monitoring system is further configured to await an acknowledgment from the safety-rated controller component that the machinery is being operated in accordance with parameters corresponding to a safe state. 
     
     
         22 . The system of  claim 21 , wherein the acknowledgment includes the parameters and the object-monitoring system is further configured to responsively update the first potential occupancy envelope in accordance with the parameters. 
     
     
         23 . The system of  claim 21 , wherein the object-monitoring system is further configured to cause the machinery to safely cease operation if the acknowledgment is not received within the delay. 
     
     
         24 . The system of  claim 16 , wherein the machinery is a robot.

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