Safety system for integrated human/robotic environments

{
  "publication_number": "US10946524B2",
  "country": "US",
  "kind": "B2",
  "title": "Safety system for integrated human/robotic environments",
  "abstract": "Systems and methods are provided for specifying safety rules for robotic devices. A computing device can determine information about any actors present within a predetermined area of an environment. The computing device can determine a safety classification for the predetermined area based on the information. The safety classification can include: a low safety classification if the information indicates zero actors are present within the predetermined area, a medium safety classification if the information indicates any actors are present within the predetermined area all are of a predetermined first type, and a high safety classification if the information indicates at least one actor present within the predetermined area is of a predetermined second type. After determining the safety classification for the predetermined area, the computing device can provide a safety rule for operating within the predetermined area to a robotic device operating in the environment.",
  "claims": [
    "1. A method implemented by one or more processors, the method comprising: receiving, at one or more sensors in an environment, a signal that is emitted by a device worn by an actor present within the environment; determining a particular safety classification, for a robot in the environment, based on the signal received at the one or more sensors, wherein determining the particular safety classification comprises: determining a first safety classification if the signal has one or more predetermined first characteristics, and determining a second safety classification if the signal has one or more predetermined second characteristics, wherein the second safety classification is more restrictive than the first safety classification; and after determining the particular safety classification based on the signal, causing the robot to operate according to a safety rule that corresponds to the particular safety classification.",
    "2. The method of claim 1, wherein when the particular classification is the first safety classification, the safety rule causes the robot to reduce its maximum speed.",
    "3. The method of claim 2, wherein when the particular classification is the second safety classification, the safety rule causes the robot to stop for at least a predetermined amount of time.",
    "4. The method of claim 3, wherein the one or more sensors comprise a radio frequency identification (RFID) sensor, wherein the device worn by the actor within the environment comprises a radio frequency identification (RFID) device, wherein the predetermined first characteristics comprise a first frequency, and wherein the predetermined second characteristics comprise a second frequency.",
    "5. The method of claim 1, wherein the one or more sensors comprise a radio frequency identification (RFID) sensor, wherein the device worn by the actor within the environment comprises a radio frequency identification (RFID) device, wherein the predetermined first characteristics comprise a first frequency, and wherein the predetermined second characteristics comprise a second frequency.",
    "6. The method of claim 1, wherein the one or more sensors comprise an ultrasonic sensor, wherein the device worn by the actor within the environment comprises an ultrasonic sound generator, wherein the predetermined first characteristics comprise a first ultrasonic sound pattern, and wherein the predetermined second characteristics comprise a second ultrasonic sound pattern.",
    "7. The method of claim 1, wherein the one or more sensors comprise a light sensor, wherein the device worn by the actor within the environment comprises a light source, wherein the predetermined first characteristics comprise a first pattern of light, and wherein the predetermined second characteristics comprise a second pattern of light.",
    "8. The method of claim 1, wherein causing the robot to operate according to the safety rule comprises causing the robot to operate according to the safety rule within a predetermined area.",
    "9. The method of claim 1, wherein the one or more sensors are aboard the robot.",
    "10. A safety system, comprising: one or more sensors; a computing device, the computing device comprising: one or more processors; and data storage including at least computer-executable instructions stored thereon that, when executed by the one or more processors, cause the computing device to perform functions comprising: receiving, at the one or more sensors, a signal that is emitted by a device worn by an actor present within an environment; determining a particular safety classification, for a robot in the environment, based on the signal received at the one or more sensors, wherein determining the particular safety classification comprises: determining a first safety classification if the signal has one or more predetermined first characteristics, and determining a second safety classification if the signal has one or more predetermined second characteristics, wherein the second safety classification is more restrictive than the first safety classification; and after determining the particular safety classification based on the signal, causing the robot to operate according to a safety rule that corresponds to the particular safety classification.",
    "11. The safety system of claim 10, wherein when the particular classification is the first safety classification, the safety rule causes the robot to reduce its maximum speed.",
    "12. The safety system of claim 11, wherein when the particular classification is the second safety classification, the safety rule causes the robot to stop for at least a predetermined amount of time.",
    "13. The safety system of claim 12, wherein the one or more sensors comprise a radio frequency identification (RFID) sensor, wherein the device worn by the actor within the environment comprises a radio frequency identification (RFID) device, wherein the predetermined first characteristics comprise a first frequency, and wherein the predetermined second characteristics comprise a second frequency.",
    "14. The safety system of claim 10, wherein the one or more sensors comprise a radio frequency identification (RFID) sensor, wherein the device worn by the actor within the environment comprises a radio frequency identification (RFID) device, wherein the predetermined first characteristics comprise a first frequency, and wherein the predetermined second characteristics comprise a second frequency.",
    "15. The safety system of claim 10, wherein the one or more sensors comprise an ultrasonic sensor, wherein the device worn by the actor within the environment comprises an ultrasonic sound generator, wherein the predetermined first characteristics comprise a first ultrasonic sound pattern, and wherein the predetermined second characteristics comprise a second ultrasonic sound pattern.",
    "16. The safety system of claim 10, wherein the one or more sensors comprise a light sensor, wherein the device worn by the actor within the environment comprises a light source, wherein the predetermined first characteristics comprise a first pattern of light, and wherein the predetermined second characteristics comprise a second pattern of light.",
    "17. The safety system of claim 10, wherein causing the robot to operate according to the safety rule comprises causing the robot to operate according to the safety rule within a predetermined area.",
    "18. The safety system of claim 17, wherein the one or more sensors and the computing device are aboard the robot."
  ],
  "description_excerpt": "One or more robots and/or other actors, such as human actors, can move throughout a space, such as the interior of part or all of a building and/or its surrounding outdoor regions, to perform tasks and/or otherwise utilize the space together. One example of a building is a warehouse, which may be used for storage of goods by a variety of different types of commercial entities, including manufacturers, wholesalers, and transport businesses. Example stored goods may include raw materials, parts or components, packing materials, and finished products. In some cases, the warehouse may be equipped with loading docks to allow goods to be loaded onto and unloaded from delivery trucks or other types of vehicles. The warehouse may also use rows of pallet racks to allow for storages of pallets, flat transport structures that contain stacks of boxes or other objects. Additionally, the warehouse may use machines or vehicles for lifting and moving goods or pallets of goods, such as cranes and forklifts. Human operators may be employed in the warehouse to operate machines, vehicles, and other equipment. In some cases, one or more of the machines or vehicles may be robotic devices guided by computer control systems.\n\nIn one aspect, a method is provided. A computing device determines presence information and actor type information about any actors present within a predetermined area of an environment using one or more associated sensors.",
  "cpc": [
    "B25J 9/1676",
    "B25J 19/02",
    "B25J 19/021",
    "B25J 9/1651",
    "B25J 9/1664",
    "B25J 9/1694",
    "G05B 2219/39085",
    "G05B 2219/40202",
    "G05B 2219/40219",
    "G05B 2219/43202",
    "G05B 2219/49137",
    "G05B 2219/49141",
    "G05D 1/0289",
    "G05D 1/617",
    "G05D 2201/0216",
    "G06K 19/0723",
    "G06Q 10/06",
    "G06Q 10/063",
    "G06Q 10/0635",
    "G06Q 10/08",
    "Y10S 901/09"
  ],
  "ipc": [
    "B25J 19/02",
    "B25J 9/16",
    "G05D 1/02",
    "G06Q 10/06",
    "G06Q 10/08"
  ],
  "assignees": [
    "X Development LLC"
  ],
  "inventors": [
    "Ethan Rublee",
    "John Zevenbergen"
  ],
  "filing_date": "2020-08-06",
  "publication_date": "2021-03-16",
  "grant_date": "2021-03-16",
  "priority_date": "2015-11-24",
  "application_number": "US-202016986653-A",
  "family_id": "58720367",
  "cited_by_count": 2,
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}