The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 28, 2021
Filed:
Dec. 31, 2018
Hitachi, Ltd., Tokyo, JP;
Nobuaki Nakasu, Tokyo, JP;
Kei Imazawa, Tokyo, JP;
Hitachi, Ltd., Tokyo, JP;
Abstract
A robot controlling device inputs an operation state of a worker from a sensor. The robot controlling device calculates a position vector and a velocity vector of each of the robot and the worker from the operation state of the robot and the operation state of the worker, generates a risk determination area (an area where the robot is stopped, an area where the robot is evacuated, and an area where the robot is decelerated) around each of the robot and the worker, determines a risk based on overlapping between the generated risk determination area of the robot and the generated risk determination area of the worker, generates a collision avoidance trajectory in which collision between the robot and the worker is avoided from a result of the determination, and controls the robot based on the generated collision avoidance trajectory.