Portable apparatus for controlling robot and method thereof

{
  "publication_number": "US10166673B2",
  "country": "US",
  "kind": "B2",
  "title": "Portable apparatus for controlling robot and method thereof",
  "abstract": "A portable apparatus for controlling a robot and a method therefor. The portable apparatus includes: an orientation sensor adapted for measuring orientation of the portable apparatus; an HMI device adapted for detecting two-dimensional manual motion relative to the HMI device; and a processing unit adapted for receiving a first signal representing the measured orientation of the portable apparatus and a second signal representing the detected two-dimensional manual motion relative to the HMI device and controlling a part of the robot to move in a direction in consideration of the measured orientation of the portable apparatus and the detected two-dimensional manual motion relative to the HMI device. By having the portable apparatus and the method therefor as explained herein, the two-dimensional manual movement on touch panel is integrated with orientation of the portable apparatus and an integration of these is mapped by the robot, which makes it possible to define a path in three dimensional space for jogging/teaching robot's movements in three dimension.",
  "claims": [
    "1. A portable apparatus for controlling a robot, including: an orientation sensor structured to measure orientation of said portable apparatus; a human machine interface (HMI) device structured to detect two-dimensional manual motion relative to said HMI device; and a processing unit structured to receive a first signal representing said measured orientation of said portable apparatus and a second signal representing said detected two-dimensional manual motion relative to said HMI device and controlling a part of said robot to move in a direction corresponding to a combination of said measured orientation of said portable apparatus and a direction of said detected two-dimensional manual motion relative to said HMI device.",
    "2. The portable apparatus according to claim 1, wherein: said processing unit is further structured to control said part of said robot to move in a speed corresponding to a speed of said detected two-dimensional manual motion relative to said HMI device.",
    "3. The portable apparatus according to claim 2, wherein: said orientation sensor is further structured to measure orientation of a first three-dimensional coordinate system which is defined relative to said portable apparatus and which follows movement of said portable apparatus; said robot is operable in a fixed second three-dimensional coordinate system; said HMI device is further structured to detect said two-dimensional manual motion relative to said HMI device in said first three-dimensional coordinate system; said processing unit is further structured to determine a relative orientation between the first and second three-dimensional coordinate systems, calculating a transformation between the first and second three-dimensional coordinate systems based on said relative orientation between these coordinate systems and transforming said detected two-dimensional manual motion relative to said HMI device into corresponding movements of said part of said robot in the second three-dimensional coordinate system based on said calculated transformation.",
    "4. The portable apparatus according to claim 1, wherein said orientation sensor is a three directional magnetometer or a combination of a three directional accelerometer and a three directional gyroscope.",
    "5. The portable apparatus according to claim 1, wherein said HMI device is a touch panel.",
    "6. The portable apparatus according to claim 1, wherein said part of said robot is a tool attached to said tool.",
    "7. The portable apparatus according to claim 1, wherein said part of said robot is a joint.",
    "8. The portable apparatus according to claim 1, further including: at least one identification marker reader, being structured to receive a signal representing information about said part of said robot from an external identification marker; wherein: said processing unit is further structured to select said part of said robot among a multiple of parts of said robot based on said information about said part of said robot.",
    "9. The portable apparatus according to claim 8, wherein said identification marker is attached with said part of said robot.",
    "10. The portable apparatus according to claim 8, wherein said processing unit is further structured to set a movement mode based on said information about said part of said robot.",
    "11. The portable apparatus according to claim 1, further including: an identification marker reader, being structured to receive signal representing information about a multiple of robots from an external identification marker tag; wherein: said processing unit is further structured to select one of said robots as master and the others as slave.",
    "12. The portable apparatus according to claim 8, wherein said identification marker is at least one of a RFID tag, an NFC tag or an QR code tag.",
    "13. The portable apparatus according to claim 1, wherein said processing unit is further structured to receive a third signal representing the speed of the movement of said part of said robot from controller of said robot and judging if a scaling factor between the speed of said detected two-dimensional manual motion relative to said HMI device and that of the movement of said part of said robot falls in an allowable range.",
    "14. The portable apparatus according to claim 1, wherein said processing unit is further structured to receive a fourth signal representing position of said part of said robot from controller of said robot and judging if said position is in collision with an external object.",
    "15. The portable apparatus according to claim 1, wherein said HMI device is further structured to display robot information based on robot signal received from controller of said robot.",
    "16. The portable apparatus according to claim 15, wherein said robot information represents mal-function of a part of said robot.",
    "17. The portable apparatus according to claim 1, wherein said HMI device is further structured to send sound, vibrate or change its background color for indicating various conditions of said robot.",
    "18. A method for manually controlling robot with a portable apparatus, including: measuring orientation of said portable apparatus; detecting two-dimensional manual motion relative to a human machine interface (HMI) device of said portable apparatus; and controlling a part of said robot to move in a direction in consideration of a combination of said measured orientation of said portable apparatus and a direction of said detected two-dimensional manual motion relative to said HMI device of said robot.",
    "19. The method for manually controlling robot according to claim 18, further including: controlling said part of said robot to move in a speed corresponding to a speed of said detected two-dimensional manual motion relative to said HMI device of said portable apparatus."
  ],
  "description_excerpt": "The invention relates to the field of apparatus and method for robot control, and more particularly to portable apparatus for robot control and method thereof.\n\nTypically a robot is equipped with a teach panel. The device is relatively large (with a touch screen, operator buttons, etc.) and connected with robot controller by cable. European Patent EP 2 055 446 published on 6 May, 2009 discloses a portable robot control apparatus to control a movement of a robot or of a robot tool end. The portable robot control apparatus comprises an inertial device with at least one acceleration sensor and/or at least one rotation sensor, where said inertial device measures its relative movement and the apparatus sends out to a robot controller a signal representing the relative movement, so that the robot controller is enabled to control the robot in such a way that said relative movement is repeated by the robot or by the robot tool end in real-time. “Design of 6-DOF Manipulator Intuitive Teaching System by Using Smart Phone Orientation - User Friendly and Intuitive Teaching Operation for 6-DOF Manipulator”, Sanghun Pyo, Syed Hassan, Yasir Jan and Jungwon Yoon, 4th International Conference on Intelligent Systems, Modelling and Simulation, 2013, describes a smart phone that can make user intention for industrial robot moving, and the information of orientation sensor is convert to robot's translation and orientation by assuming that smartphone orientation can be a conventional joy stick equipped a universal joint in base part. The method can move the robot's end effector by-directional as XY plane.",
  "cpc": [
    "B25J 9/161",
    "B25J 13/088",
    "B25J 9/1689",
    "G05B 2219/39445",
    "G05B 2219/39449",
    "G06F 3/016",
    "G06F 3/0346",
    "G06F 3/04883"
  ],
  "ipc": [
    "B25J 13/08",
    "B25J 9/16",
    "G06F 3/01",
    "G06F 3/0346",
    "G06F 3/0488"
  ],
  "assignees": [
    "ABB SCHWEIZ AG"
  ],
  "inventors": [
    "ORMAN MACIEJ",
    "JIANG WANLI",
    "MARTINEZ CARLOS",
    "PLESNAR JACEK"
  ],
  "filing_date": "2016-08-12",
  "publication_date": "2019-01-01",
  "grant_date": "2019-01-01",
  "priority_date": "2014-04-04",
  "application_number": "US-201615235719-A",
  "family_id": "54239329",
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}