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AUTONOMOUS SAFETY PROCESS FOR HUMAN ROBOT COLLABORATION

IP.com Disclosure Number: IPCOM000237306D
Publication Date: 2014-Jun-12
Document File: 9 page(s) / 315K

Publishing Venue

The IP.com Prior Art Database

Abstract

The invention proposes an autonomous intelligent robotic system to work in collaboration with a human being. The intelligent robotic system is aware of action of the robotic system and another robot and associated action in a room. The robot is able to identify when the human enters specific workspace, analyze action of the human, project the action of the human on own and the other robots in the room. The robot also warns the human when there is danger of collision with one of the robot. Warning to the human is of escalating type when the human does not heed the first warning.

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AUTONOMOUS SAFETY PROCESS FOR HUMAN ROBOT COLLABORATION

BRIEF ABSTRACT

The invention proposes an autonomous intelligent robotic system to work in collaboration with a human being. The intelligent robotic system is aware of action of the robotic system and another robot and associated action in a room. The robot is able to identify when the human enters specific workspace, analyze action of the human, project the action of the human on own and the other robots in the room. The robot also warns the human when there is danger of collision with one of the robot. Warning to the human is of escalating type when the human does not heed the first warning.

KEYWORDS

Robotic system, Human, safety, warning

 

DETAILED DESCRIPTION

When a robot and a human work in a collaborative environment, the robot is required to be capable of operating safely. The robot requires to react appropriately in presence and action of the human. The robot also accomplish processing task at hand.

A conventional technique include cage, light, curtain, emergency shut off mats, IR safety beam among others as environment for safety to the robots and the human.

           

Therefore, there is a need for an efficient technique to provide safety to the robot and the human working in the collaborative environment.

The invention proposes an autonomous intelligent robotic system to work in collaboration with a human being. The autonomous intelligent robotic system is aware of action of the robotic system and an other robot and associated action in a room. The robot is able to identify when the human enters specific workspace, analyze action of the human, project the action of the human on own and the other robots in the room. The robot also warns the human when there is danger of collision with one of the robot. Warning to the human is of escalating type when the human does not heed the first warning.

The invention involves creation of robot operating system (ROS) transform for kinect mount on Baxter and visualize in ROS. This includes implementation of human robot interaction (HRI) process in SMACH. SMACH is a task level architecture for rapidly creating complex robot behavior. SMACH is a ROS-independent python library to build hierarchical state machine. First-pass is created at a simple state machine framework for baxter sorting and powerboat tray handling robot to be utilized by the intelligent safety system. Then ROS nodes for baxter, the sorting robot and a “traybot”, the tray handling robot are created.  At this stage, states are dummy containers and state machines are a framework for testing high-level system logic.  In this beginning stage, both baxter and traybot begins in an idle state. A keystroke from the human user begins the process, which sets ‘tray ready’ variable to ‘true’, which triggers a traybot transition from idle to move to either drop. If the traybot is carrying a tray “ready drop” or pick if the traybot is not “ready pick”. Initial...