TWI845798B - Cooperative robotic arm system and homing method thereof - Google Patents

Abstract

A cooperative robotic arm system includes a first robotic arm, a second robotic arm and a controller. The first robotic arm has a first work vector. The second robotic arm has a second work vector. The controller is configured to: (1) control the first robotic arm and the second robotic arm to stop moving; (2) determine whether a first projection vector of the first work vector projected on a first coordinate axis and a second work vector projected on the first coordinate axis overlaps; (3) when they overlap, determine whether a third projection vector of the first work vector projected on a second coordinate axis and a fourth projection vector of the second work vector projected on the second coordinate axis overlap; and , (4). when they do no overlap, control a controlled moving one of the first robotic arm and the second robotic arm to move along a reset path.

Description

Collaborative robot arm system and its reset method

The present invention relates to a robot arm system and a reset method thereof, and in particular to a collaborative robot arm system and a reset method thereof.

Nowadays, there are more and more cases of multiple robotic arms working together on production lines. When a robotic arm stops suddenly or moves unexpectedly or slows down (such as a malfunction, abnormality, etc.), the coordinated robotic arm is likely to collide with the abnormal arm during the reset process if it fails to respond in time. Therefore, how to prevent collisions between coordinated (normally operating) robotic arms during the reset process is a topic worth studying.

Therefore, the present invention proposes a collaborative robot arm system and a reset method thereof, which can improve the learning problem.

An embodiment of the present invention provides a reset method for a collaborative robot arm system. The reset method includes the following steps. Control a first robot arm and a second robot arm to stop moving, wherein the first robot arm has a first working vector and the second robot arm has a second working vector; determine whether a first projection vector of the first working vector projected on a first coordinate axis and a second projection vector of the second working vector projected on the first coordinate axis overlap; when the first projection vector and the second projection vector overlap, determine whether a third projection vector of the first working vector projected on a second coordinate axis and a fourth projection vector of the second working vector projected on the second coordinate axis overlap; and, when the third projection vector and the fourth projection vector do not overlap, control a first controlled mover of the first robot arm and the second robot arm to move along a first reset path, wherein the first reset path does not pass through a working point of a stopper of the first robot arm and the second robot arm.

Another embodiment of the present invention provides a collaborative robot arm system. The collaborative robot arm system includes a first robot arm, a second robot arm and a controller. The first robot arm has a first working vector. The second robot arm has a second working vector. The controller is used to: control a first robot arm and a second robot arm to stop moving; determine whether a first projection vector of a first working vector projected on a first coordinate axis and a second projection vector of a second working vector projected on the first coordinate axis overlap; when the first projection vector and the second projection vector overlap, determine whether a third projection vector of the first working vector projected on a second coordinate axis and a fourth projection vector of the second working vector projected on the second coordinate axis overlap; and, when the third projection vector and the fourth projection vector do not overlap, control a first controlled mover of the first robot arm and the second robot arm to move along a first reset path, wherein the first reset path does not pass through a working point of a stopper of the first robot arm and the second robot arm.

In order to better understand the above and other aspects of the present invention, the following is a specific example and a detailed description with the attached drawings as follows:

100,200: Collaborative Robotic Arm System

110: The first robotic arm

120: Second robotic arm

130: Controller

140: The third robotic arm

V1: First working vector

V2: Second working vector

V3: The third working vector

V1 _Y : First projection vector

V2 _Y : Second projection vector

V3 _Y : Fifth projection vector

V1 _X : The third projection vector

V2 _X : Fourth projection vector

V3 _X : Sixth projection vector

P1: First reset path

P2: Second reset path

r1,r2,r3,R: origin

x1-y1-z1: first robot arm coordinate system

x2-y2-z2: Second robot arm coordinate system

x3-y3-z3: The third robot arm coordinate system

X-Y-Z: common coordinate system

Y: first coordinate axis

X: Second coordinate axis

Z: The third coordinate axis

W1, W2, W3: working point

Figure 1 shows a schematic diagram of a collaborative robotic arm system according to an embodiment of the present invention.

Figure 2 is a schematic diagram of the common coordinate system of the collaborative robot arm system in Figure 1.

FIG. 3A is a schematic diagram showing the overlap of the first projection vector V1 _Y and the second projection vector V2 _Y of the collaborative robot arm system.

FIG. 3B is a schematic diagram showing a third projection vector V1 _X and a fourth projection vector V2 _X of the collaborative robot arm system of FIG. 3A .

FIG. 3C is a schematic diagram showing that the first projection vector V1 _Y and the second projection vector V2 _Y of the collaborative robot arm system do not overlap in another embodiment.

FIG. 3D is a schematic diagram showing the overlap of the third projection vector _V1X and the fourth projection vector _V2X in another embodiment.

Figure 4 shows a schematic diagram of a collaborative robotic arm system according to an embodiment of the present invention.

Figure 5 is a schematic diagram of the common coordinate system of the collaborative robot arm system in Figure 4.

FIG. 6A is a schematic diagram showing the overlap of any two of the first projection vector V1 _Y , the second projection vector V2 _Y , and the fifth projection vector V3 _Y of the collaborative robot arm system.

FIG. 6B is a schematic diagram showing the third projection vector V1 _X , the fourth projection vector V2 _X and the sixth projection vector V3 _X of the collaborative robot arm system of FIG. 6A .

FIG. 6C is a schematic diagram showing that the first projection vector V1 _Y , the second projection vector V2 _Y and the fifth projection vector V3 _Y do not overlap in another embodiment.

FIG. 6D is a schematic diagram showing the overlap of the fourth projection vector _V2X and the sixth projection vector _V3X of the collaborative robot arm system.

FIG. 6E is a schematic diagram showing the overlap of the third projection vector V1 _X , the fourth projection vector V2 _X , and the sixth projection vector V3 _X of the collaborative robot arm system.

Figure 7 shows a flow chart of the reset method of the robot arm system in Figure 1.

Figure 8 shows a flow chart of the reset method of the robot arm system in Figure 4.

Figure 9 shows a schematic diagram of a robotic arm system according to another embodiment of the present disclosure.

Figure 10 is a schematic diagram showing the relative relationship between the first robot arm, the second robot arm and the third robot arm according to another embodiment of the present disclosure.

Figure 11 is a schematic diagram showing the relative relationship between the first robot arm, the second robot arm and the third robot arm according to another embodiment of the present disclosure.

Please refer to Figures 1, 2 and 3A to 3D. Figure 1 is a schematic diagram of a collaborative robot arm system 100 according to an embodiment of the present invention. Figure 2 is a schematic diagram of a common coordinate system XYZ of the collaborative robot arm system 100 in Figure 1. Figure 3A is a schematic diagram of a first projection vector V1 _Y and a second projection vector V2 _Y overlapping each other in the collaborative robot arm system 100. Figure 3B is a schematic diagram of a third projection vector V1 _X and a fourth projection vector V2 _X of the collaborative robot arm system 100 in Figure 3A. Figure 3C is a schematic diagram of a first projection vector V1 _Y and a second projection vector V2 _Y of the collaborative robot arm system 100 in another embodiment that do not overlap each other. Figure 3D is a schematic diagram of a third projection vector V1 _X and a fourth projection vector V2 _X overlapping each other in another embodiment.

The disclosed embodiment proposes a collaborative robot arm system and a reset method thereof. The collaborative robot arm system includes a plurality of robots and a controller, wherein the controller is used to: (1) control all robots to stop moving, wherein each robot arm has a working vector; (2) determine whether any two of the projection vectors of these working vectors projected on a coordinate axis overlap with each other; (3) when any two of these projection vectors overlap with each other, control at least one controlled mover of these robots to move along a reset path, wherein the reset path does not pass through the stopper of these robots, wherein the "stopper" is one of these robots, such as a faulty one or a collision one, and the "controlled mover" is the rest of these robots.

Multiple robots in the collaborative robot system 100 can jointly process (e.g., process, transport, clamp, etc.) an object.

The collaborative robot system 100 includes a first robot 110 , a second robot 120 , and a controller 130 . The controller 130 is used to: (1) control the first robot arm 110 and the second robot arm 120 to stop moving, wherein the first robot arm 110 has a first working vector V1 and the second robot arm 120 has a second working vector V2; (2) determine whether a first projection vector V1 _Y of the first working vector V1 projected on a first coordinate axis (e.g., Y axis) and a second projection vector V2 _Y of the second working vector V2 projected on the first coordinate axis overlap; (3) when the first projection vector V1 _Y and the second projection vector V2 _Y overlap (as shown in FIG. 3A ), determine whether a third projection vector V1 _X of the first working vector V1 projected on a second coordinate axis (e.g., X axis) and a fourth projection vector V2 _X of the second working vector V2 projected on the second coordinate axis overlap; (4) when the third projection vector V1 _X and the fourth projection vector V2 _X does not overlap (as shown in FIG. 3B ), one of the first robot arm 110 and the second robot arm 120 is selected as the controlled mover, and the controlled mover is controlled to move along the first reset path P1, wherein the first reset path P1 does not pass through the working point where one of the first robot arm 110 and the second robot arm 120 stops. In this way, through the above reset method, the collaborative robot arm system 100 can be quickly reset and ensure that no collision occurs during the reset process.

As shown in FIG. 2 , before obtaining the first projection vector V1 _Y , the second projection vector V2 _Y , the third projection vector V1 _X and the fourth projection vector V2 _X , the controller 130 makes the first working vector V1 and the second working vector V2 refer to the same coordinate system, such as the common coordinate system XYZ. In this way, these projection vectors are all referenced to the same coordinate system, so that the controller 130 can calculate the reset path more quickly and more accurately. The disclosed embodiment does not limit the method by which the controller 130 calculates or determines the reset path. The aforementioned common coordinate system XYZ includes a first coordinate axis Y, a second coordinate axis X and a third coordinate axis Z that are perpendicular to each other.

The following describes how the common coordinate system X-Y-Z is determined. As shown in Figures 1 and 2, the first working vector V1 refers to (or is relative to) the first robot coordinate system x1-y1-z1, and the second working vector V2 refers to (or is relative to) the second robot coordinate system x2-y2-z2, wherein the third coordinate axis z1 of the first robot coordinate system x1-y1-z1 and the third coordinate axis z2 of the second robot coordinate system x2-y2-z2 are substantially parallel and face the same direction, for example, parallel and face upward. The first working vector V1 is a vector from the origin r1 of the first robot coordinate system x1-y1-z1 to the working point W1, wherein the working point W1 is, for example, the end point of the first robot 110, the origin of the flange surface, the reference point of the tool head, etc. The second working vector V2 is a vector from the origin r2 of the second robot arm coordinate system x2-y2-z2 to the working point W2, where the working point W2 is, for example, the end point of the second robot arm 120, the origin of the flange surface, the reference point of the tool head, etc.

The controller 130 is further used to define a common coordinate system X-Y-Z, wherein the common coordinate system X-Y-Z has the following characteristics: (1) The first coordinate axis Y of the common coordinate system X-Y-Z passes through the origin r1 of the first robot coordinate system x1-y1-z1 and the origin r2 of the second robot coordinate system x2-y2-z2; (2) The third coordinate axis Z of the common coordinate system X-Y-Z, the third coordinate axis z1 of the first robot coordinate system and the third coordinate axis z2 of the second robot coordinate system x2-y2-z2 are substantially parallel and face the same direction; and (3) The origin r1 of the first robot coordinate system x1-y1-z1 coincides with the origin R of the common coordinate system X-Y-Z.

The disclosed embodiment does not limit the first coordinate axis Y of the common coordinate system X-Y-Z to pass through the origin r1 of the first robot coordinate system x1-y1-z1 and the origin r2 of the second robot coordinate system x2-y2-z2. In another embodiment, the origin R of the common coordinate system X-Y-Z may also be offset from the origin r1 of the first robot coordinate system x1-y1-z1 and the origin r2 of the second robot coordinate system x2-y2-z2, i.e., they do not overlap.

The controller 130 may use any known coordinate conversion mathematical method to obtain the conversion relationship between the first robot coordinate system x1-y1-z1 and the common coordinate system X-Y-Z and the conversion relationship between the second robot coordinate system x2-y2-z2 and the common coordinate system X-Y-Z. Through these conversion relationships, the controller 130 may convert the first working vector V1 from the coordinates referenced to the first robot coordinate system x1-y1-z1 to the common coordinate system X-Y-Z, and convert the second working vector V2 from the coordinates referenced to the second robot coordinate system x2-y2-z2 to the common coordinate system X-Y-Z. The controller 130 is, for example, a physical circuit formed by a semiconductor process, such as a semiconductor chip, a semiconductor package, etc. The controller 130 can receive signals from all robotic arms, and based on these signals, obtain the current (or latest) position of the robotic arm, control the movement of the robotic arm, and obtain the reset path, etc.

The aforementioned "stopper" is, for example, the faulty one of the first robot arm 110 and the second robot arm 120. For example, the controller 130 is further used to: (1) determine whether the first robot arm 110 or the second robot arm 120 is faulty; (2) when the first robot arm 110 or the second robot arm 120 is faulty, control the controlled mover to move along the first reset path P1. The controlled mover can be selected from a robot arm other than the faulty one.

In another embodiment, when a plurality of robotic arms have collided or are about to collide, the controller 130 is further used to: (1) determine whether the first robotic arm 110 and the second robotic arm 120 have collided or are about to collide; (2) when the first robotic arm 110 and the second robotic arm 120 have collided or are about to collide, select one of the first robotic arm 110 and the second robotic arm 120 as the controlled mover; and (3) control the controlled mover to move along the first reset path P1. In addition, when the controller 130 detects that any one of the robotic arms has failed, has collided or is about to collide, it controls all the robotic arms to stop moving to avoid more serious damage to the robotic arms, and then controls the controlled mover to move along the first reset path P1.

As shown in FIG. 3B , when the second robot 120 (not shown in FIG. 3B ) is stopped, the controller 130 controls the first robot 110 (not shown in FIG. 3B ) to move along the first reset path P1, wherein the first reset path P1 is, for example, a direction away from or close to the second robot 120. For example, the first reset path P1 is a path parallel to the second coordinate axis (e.g., X axis) and away from the second robot 120, or a path parallel to the third coordinate axis (e.g., Z axis) and away from the second robot 120. However, as long as the first reset path P1 of the first robot arm 110 does not pass through the working point W2 of the second robot arm 120, the first reset path P1 can also be a path parallel to the second coordinate axis (e.g., X axis) or the third coordinate axis (e.g., Z axis) and close to the second robot arm 120. P1 in Figure 3B shows two arrows in different directions, which respectively represent reset paths in two different directions. Arrows in other figures drawn in the same style have the same meaning, so they are not repeated here.

In one embodiment, when the "controlled mover" moves away from the "stopper" along the first coordinate axis, the second coordinate axis or the third coordinate axis, the safety distance between the "controlled mover" and the "stopper" is enlarged, so that the "controlled mover" and the "stopper" are in a safer environment, and then the controller 130 controls the "controlled mover" to return to its original position (reset). In detail, before the "controlled mover" returns to its original position, the controller 130 allows the "controlled mover" and the "stopper" to be at a safe distance first, so that in the process of the "controlled mover" returning to its original position, it is ensured that there will be no collision with the "stopper", allowing the "controlled mover" to return to its original position safely.

The following introduces the projection vector types of the first robot arm 110 and the second robot arm 120 of other embodiments.

In another embodiment, as shown in FIG. 3C , the first projection vector V1 _Y and the second projection vector V2 _Y do not overlap. The controller 130 is used to: when the first projection vector V1 _Y and the second projection vector V2 _Y do not overlap, control the first robot arm 110 (not shown in FIG. 3B ) to be the controlled mover and the second robot arm 120 (not shown in FIG. 3B ) to move along the first reset path P1. For example, when the second robot arm 120 is a stopper, the controller 130 controls the first robot arm 110 to move along the first reset path P1, for example, along the -Y axis or the +Z axis, as shown by the two different arrow directions of P1 in FIG. 3C . However, as long as the first reset path P1 does not pass through the working point W2 of the second robot arm 120, the first reset path P1 may also move along the +Y axis or the -Z axis.

In another embodiment, as shown in FIG. 3D, the third projection vector _V1X and the fourth projection vector _V2X overlap. The controller 130 is used to control one of the first robot arm 110 (not shown in FIG. 3D) and the second robot arm 120 (not shown in FIG. 3D) to be a controlled mover when the third projection vector _V1X and the fourth _projection vector V2X overlap, and to make the controlled mover move along the first reset path P1. For example, when the first robot arm 110 is a stopper, the controller 130 controls the second robot arm 120 to move along the first reset path P1, for example, along the -X axis or the +Z axis, as shown by two different arrow directions of P1 in FIG. 3D. However, as long as the first reset path P1 does not pass through the working point W1 of the first robot arm 110, the first reset path P1 may also move along the +X axis or the -Z axis.

Please refer to Figures 4, 5 and 6A to 6E. Figure 4 is a schematic diagram of a collaborative robot arm system 200 according to an embodiment of the present invention. Figure 5 is a schematic diagram of a common coordinate system XYZ of the collaborative robot arm system 200 of Figure 4. Figure 6A is a schematic diagram of any two of the first projection vector V1 _Y , the second projection vector V2 _Y and the fifth projection vector V3 _Y of the collaborative robot arm system 200 overlapping. Figure 6B is a schematic diagram of the third projection vector V1 _X , the fourth projection vector V2 _X and the sixth projection vector V3 _X of the collaborative robot arm system 100 of Figure 6A. Figure 6C is a schematic diagram of another embodiment in which the first projection vector V1 _Y , the second projection vector V2 _Y and the fifth projection vector V3 _Y do not overlap. Figure 6D is a schematic diagram of the fourth projection vector V2 Y of the collaborative robot arm system 200. FIG. 6E is a schematic diagram showing the overlap of the third projection vector V1 _{X ,} the fourth projection vector V2 _X and the sixth projection vector V3 _X of the collaborative robot arm system 200. _FIG .

The collaborative robot system 200 includes a first robot 110 , a second robot 120 , a controller 130 and a third robot 140 . The controller 130 is used to: (1) control the first robot arm 110, the second robot arm 120 and the third robot arm 140 to stop moving, wherein the first robot arm 110 has a first working vector V1, the second robot arm 120 has a second working vector V2, and the third robot arm 140 has a third working vector V3; (2) determine whether any two of the first projection vector V1 _Y , the second projection vector V2 _Y and the fifth projection vector V3 _Y projected on the first coordinate axis overlap; (3) when any two of the first projection vector V1 _Y , the second projection vector V2 _Y and the fifth projection vector V3 _Y overlap (as shown in FIG. 6A, in this example, the second projection vector V2 _Y and the fifth projection vector V3 _Y overlap each other), determine whether the third projection vector V1 _X , the fourth projection vector V2 _X and the sixth projection vector V3 Y projected on the second coordinate axis of the third working vector V3 _X overlap with each other; (4) When the third projection vector V1 _X , the fourth projection vector V2 _X and the sixth projection vector V3 _X do not overlap with each other (as shown in FIG. 6B, in this example, the third projection vector V1 _X and the fourth projection vector V2 _X does not overlap), select one of the first robot arm 110, the second robot arm 120 and the third robot arm 140 as the first controlled mover, control the first controlled mover to move along the first reset path P1, wherein the first reset path P1 does not pass through the working point of the stopper among the first robot arm 110, the second robot arm 120 and the third robot arm 140, and select one of the first robot arm 110, the second robot arm 120 and the third robot arm 140 as the second controlled mover, control the second controlled mover to move along the second reset path P2, wherein the second reset path P2 does not pass through the working point of the stopper among the first robot arm 110, the second robot arm 120 and the third robot arm 140. Thus, through the aforementioned resetting method, the collaborative robot arm system 200 can be quickly reset and ensure that no collision occurs during the resetting process.

As shown in FIG. 5 , before obtaining the first projection vector V1 _Y , the second projection vector V2 _Y , the third projection vector V1 _X , the fourth projection vector V2 _X , the fifth projection vector V3 _Y and the sixth projection vector V3 _X , the controller 130 makes the first working vector V1 , the second working vector V2 and the third working vector V3 refer to the same coordinate system, such as the common coordinate system XYZ. In this way, these projection vectors are all referenced to the same coordinate system, so that the controller 130 can calculate the reset path more quickly and more accurately. The disclosed embodiment does not limit the method by which the controller 130 calculates or determines the reset path. The aforementioned common coordinate system XYZ includes a first coordinate axis Y, a second coordinate axis X and a third coordinate axis Z that are perpendicular to each other.

As shown in Figures 4 and 5, the first working vector V1 refers to (or is relative to) the first robot arm coordinate system x1-y1-z1, the second working vector V2 refers to (or is relative to) the second robot arm coordinate system x2-y2-z2, and the third working vector V3 refers to (or is relative to) the third robot arm coordinate system x3-y3-z3, wherein the third coordinate axis z1 of the first robot arm coordinate system x1-y1-z1, the third coordinate axis z2 of the second robot arm coordinate system x2-y2-z2 and the third coordinate axis z3 of the third robot arm coordinate system x3-y3-z3 are substantially parallel and facing the same direction, for example, parallel upward. The third working vector V3 is a vector from the origin r3 of the third robot coordinate system x3-y3-z3 to the working point W3, where the working point W3 is, for example, the end point of the third robot 140, the origin of the flange surface, the reference point of the tool head, etc.

In this embodiment, as shown in FIG. 5 , the first coordinate axis Y of the common coordinate system X-Y-Z passes through the origin r1 of the first robot coordinate system x1-y1-z1 and the origin r2 of the second robot coordinate system x2-y2-z2. In another embodiment, the first coordinate axis Y of the common coordinate system X-Y-Z may pass through the origin r2 of the second robot coordinate system x2-y2-z2 and the origin r3 of the third robot coordinate system x3-y3-z3. In other embodiments, the first coordinate axis Y of the common coordinate system X-Y-Z may pass through the origin r1 of the first robot coordinate system x1-y1-z1 and the origin r3 of the third robot coordinate system x3-y3-z3. In another embodiment, the origin R of the common coordinate system X-Y-Z may be located between the triangular area formed by the origin r1 of the first robot coordinate system x1-y1-z1, the origin r2 of the second robot coordinate system x2-y2-z2, and the origin r3 of the third robot coordinate system x3-y3-z3, that is, the origin R of the common coordinate system X-Y-Z is offset from any one of the origin r1, the origin r2, and the origin r3, that is, they do not overlap.

As shown in FIG. 6B , when the second robot 120 is stopped, the controller 130 controls the first robot 110 (the first controlled mover, not shown in FIG. 6B ) to move along the first reset path P1, for example, along the -X axis or the +Z axis, and controls the third robot 140 (the second controlled mover, not shown in FIG. 6B ) to move along the second reset path P2, for example, along the +X axis or the +Z axis, as shown by the two different arrow directions shown by P1 in FIG. 6B , and the two different arrow directions shown by P2. However, as long as the first reset path P1 does not pass through the working point W2 of the second working vector V2, the first reset path P1 may also be a path along the +X axis or the -Z axis, and the second reset path P2 may also be a path along the -X axis or the -Z axis. In another embodiment, the third robot 140 may serve as the first controlled mover, and the first robot 110 may serve as the second controlled mover.

The following introduces the projection vector types of the first robot arm 110, the second robot arm 120 and the third robot arm 140 of other embodiments.

In another embodiment, as shown in FIG. 6C , the first projection vector V1 _Y , the second projection vector V2 _Y and the fifth projection vector V3 _Y do not overlap. The controller 130 is used to: when the first projection vector V1 _Y , the second projection vector V2 _Y and the fifth projection vector V3 _Y do not overlap, select one of the first robot arm 110 , the second robot arm 120 and the third robot arm 140 as the first controlled mover to control the first controlled mover to move along the first reset path P1, and select one of the first robot arm 110 , the second robot arm 120 and the third robot arm 140 as the second controlled mover to control the second controlled mover to move along the second reset path P2. For example, as shown in FIG. 6C , when the second robot 120 is stopped, the controller 130 controls the first robot 110 to move along the first reset path P1, such as along the −Y axis or the +Z axis, and controls the third robot 140 to move along the second reset path P2, such as along the −Y axis or the +Z axis, as shown by the two different arrow directions of P1 and the two different arrow directions of P2 in FIG. 6C . However, as long as the first reset path P1 does not pass through the working point W2 of the second working vector V2, the first reset path P1 may also be a path along the +Y axis or the −Z axis, and the second reset path P2 may also be a path along the +Y axis or the −Z axis. In another embodiment, the third robot 140 may serve as the first controlled mover, and the first robot 110 may serve as the second controlled mover.

In another embodiment, as shown in FIG. 6D , the fourth projection vector _V2X overlaps with the sixth projection vector V3X. When the first robot 110 (not shown in FIG. 6D ) is stopped, the controller 130 controls the second robot 120 (the first controlled mover, not shown in FIG. 6D ) to move along the first reset path P1, for example, along the +X axis or the +Z axis, and controls the third robot 140 (the second controlled mover, not shown in FIG. 6D ) to move along the second reset path P2, for example, along the -X axis or the +Z axis. However, as long as the first reset path P1 does not pass through the working point W1 of the first working vector V1, the first reset path P1 may also be a path along the -X axis or the -Z axis, and the second reset path P2 may also be a path along the +X axis or the -Z axis. In another embodiment, the third robot 140 may serve as the first controlled mover, and the second robot 120 may serve as the second controlled mover.

In another embodiment, as shown in FIG. 6E , the third projection vector V1 _X , the fourth projection vector V2 _X , and the sixth projection vector V3 _X overlap each other. When the first robot 110 is stopped, the controller 130 controls the second robot 120 (the first controlled mover, not shown in FIG. 6E ) to move along the first reset path P1, such as along the +X axis or the +Z axis, and controls the third robot 140 (the second controlled mover, not shown in FIG. 6E ) to move along the second reset path P2, such as along the +X axis or the +Z axis. However, as long as the first reset path P1 does not pass through the working point W1 of the first working vector V1, the first reset path P1 may also be a path along the -X axis or the -Z axis, and the second reset path P2 may also be a path along the -X axis or the -Z axis. In another embodiment, the third robot 140 may serve as the first controlled mover, and the second robot 120 may serve as the second controlled mover.

Please refer to Figure 7, which shows a flow chart of the reset method of the robot arm system 100 in Figure 1.

In step S110, the controller 130 controls the first robot arm 110 and the second robot arm 120 to stop moving, wherein the first robot arm 110 has a first working vector V1 and the second robot arm 120 has a second working vector V2.

In step S120, the controller 130 determines whether the first projection vector V1 _Y of the first working vector V1 projected on the first coordinate axis and the second projection vector V2 _Y of the second working vector V2 projected on the first coordinate axis overlap, wherein the first coordinate axis is, for example, one of the axes of the common coordinate system XYZ. When the first projection vector V1 _Y and the second projection vector V2 _Y do not overlap (as shown in FIG. 3C), the process proceeds to step S140. When the first projection vector V1 _Y and the second projection vector V2 _Y overlap (as shown in FIG. 3A), the process proceeds to step S130.

Then, the controller 130 can determine the overlap of the first working vector V1 and the second working vector V2 on the second coordinate axis to determine the reset path. The following is a further example.

In step S130, when the first projection vector V1 _Y and the second projection vector V2 _Y overlap, the controller 130 determines whether the third projection vector V1 _X projected by the first working vector V1 on the second coordinate axis and the fourth projection vector V2 _X projected by the second working vector V2 on the second coordinate axis overlap. When the third projection vector V1 _X and the fourth projection vector V2 _X do not overlap (as shown in FIG. 3B ), the process proceeds to step S140.

In step S140, when the third projection vector _V1X and the fourth projection vector _V2X do not overlap, the controller 130 controls the controlled mover of the first robot arm 110 and the second robot arm 120 to move along the first reset path P1, wherein the first reset path P1 does not pass through the working point of the stopper of the first robot arm 110 and the second robot arm 120. As long as the first reset path P1 does not pass through the working point of the stopper of the first robot arm 110 and the second robot arm 120, the first reset path P1 can be far away from or close to the stopper.

Please refer to Figure 8, which shows a flow chart of the reset method of the collaborative robot arm system 200 in Figure 4.

In step S210, the controller 130 controls the first robot arm 110, the second robot arm 120 and the third robot arm 140 to stop moving, wherein the first robot arm 110 has a first working vector V1, the second robot arm 120 has a second working vector V2, and the third robot arm 140 has a third working vector V3.

In step S220, the controller 130 determines whether the first projection vector V1 _Y of the first working vector V1 projected on the first coordinate axis, the second projection vector V2 _Y of the second working vector V2 projected on the first coordinate axis, and the fifth projection vector V3 _Y of the third working vector V3 projected on the first coordinate axis overlap, wherein the first coordinate axis is, for example, one of the axes of the common coordinate system XYZ. When the first projection vector V1 _Y , the second projection vector V2 _Y , and the fifth projection vector V3 _Y do not overlap (as shown in FIG. 6C), the process proceeds to step S240. When the first projection vector V1 _Y , the second projection vector V2 _Y , and the fifth projection vector V3 _Y overlap (as shown in FIG. 6A), the process proceeds to step S230.

Then, the controller 130 can determine the overlap of the first working vector V1, the second working vector V2 and the third working vector V3 on the second coordinate axis to determine the first and second reset paths. The following is a further example.

In step S230, when the first projection vector V1 _Y , the second projection vector V2 _Y and the fifth projection vector V3 _Y overlap, the controller 130 determines whether the third projection vector V1 _X projected on the second coordinate axis by the first working vector V1, the fourth projection vector V2 _X projected on the second coordinate axis by the second working vector V2 and the sixth projection vector V3 _X projected on the second coordinate axis by the third working vector V3 overlap. When the third projection vector V1 _X , the fourth projection vector V2 _X and the sixth projection vector V3 _X do not overlap (as shown in FIG. 6B ), the process proceeds to step S240.

In step S240, when the third projection vector _V1X , the fourth projection vector _V2X and the sixth projection vector _V3X do not overlap, the controller 130 controls the first controlled mover among the first robot arm 110, the second robot arm 120 and the third robot arm 140 to move along the first reset path P1, wherein the first reset path P1 does not pass through the working point of the stopper among the first robot arm 110, the second robot arm 120 and the third robot arm 140. As long as the first reset path P1 does not pass through the working point of the stopper among the first robot arm 110, the second robot arm 120 and the third robot arm 140, the first reset path P1 can be far away from or close to the stopper.

In step S250, the controller 130 controls the second controlled movers of the first robot arm 110, the second robot arm 120 and the third robot arm 140 to move along the second reset path P2, wherein the second reset path P2 does not pass through the working point of the stopper of the first robot arm 110, the second robot arm 120 and the third robot arm 140. As long as the second reset path P2 does not pass through the working point of the stopper of the first robot arm 110, the second robot arm 120 and the third robot arm 140, the second reset path P2 can be far away from or close to the stopper.

The following describes another embodiment of the robot arm reset method disclosed herein.

In one embodiment, as shown in FIG. 6A , taking the second robot 120 (not shown in FIG. 6A ) as the “stopper”, the controller 130 determines the common coordinate system X-Y-Z using the origin r1 of the first robot coordinate system x1-y1-z1 and the origin r2 of the second robot coordinate system x2-y2-z2. Since the first working vector V1 of the first robot 110 does not overlap with the second working vector V2 of the second robot 120 and does not overlap with the third working vector V3 of the third robot 140, the controller 130 can use the first robot 110 as the “controlled mover”, use the aforementioned method to determine the reset path of the “controlled mover”, and control the “controlled mover” to reset first. Then, the controller 130 resets the common coordinate system, and determines the common coordinate system X-Y-Z with the origin r2 of the second robot coordinate system x2-y2-z2 and the origin r3 of the third robot coordinate system x3-y3-z3, and uses the aforementioned method to determine the reset path of the "controlled mover" and control the "controlled mover" to reset first.

In another embodiment, when the first working vector V1 of the first robot 110 in FIG. 6A overlaps the second working vector V2 of the second robot 120 and the third working vector V3 of the third robot 140, the controller 130 can determine the relative relationship of the robots from another plane. Specifically, as shown in FIG. 9, from the XZ plane, the first working vector V1 of the first robot 110 does not overlap the second working vector V2 of the second robot 120, and does not overlap the third working vector V3 of the third robot 140. Therefore, the controller 130 can use the first robot 110 as a "controlled mover", determine the reset path of the "controlled mover" in the above-mentioned manner, and control the "controlled mover" to reset first. Then, the controller 130 resets the common coordinate system, and determines the common coordinate system X-Y-Z with the origin r2 of the second robot coordinate system x2-y2-z2 and the origin r3 of the third robot coordinate system x3-y3-z3, and uses the aforementioned method to determine the reset path of the "controlled mover" (third robot 140), and controls the "controlled mover" to reset first.

Please refer to FIG. 10 , which is a schematic diagram showing the relative relationship among the first robot arm 110 , the second robot arm 120 and the third robot arm 140 according to another embodiment of the present disclosure. Taking the second robot 120 (not shown in FIG. 10 ) as the “stopper” as an example, the controller 130 determines the common coordinate system X-Y-Z with the origin r1 of the first robot coordinate system x1-y1-z1 and the origin r2 of the second robot coordinate system x2-y2-z2. Since the third working vector V3 of the third robot 140 does not overlap with the first working vector V1 of the first robot 110 (not shown in FIG. 10 ) and does not overlap with the second working vector V2 of the second robot 120, the controller 130 can use the third robot 140 (not shown in FIG. 10 ) as the “controlled mover”, use the aforementioned method to determine the reset path of the “controlled mover”, and control the “controlled mover” to reset first. Then, the controller 130 may not reset the common coordinate system, use the first robot arm 110 as the "controlled mover", use the aforementioned method to determine the reset path of the "controlled mover", and control the "controlled mover" to reset first.

In another embodiment, as shown in FIG. 6E, taking the second robot arm 120 (not shown in FIG. 6E) as the "stopper" as an example, the controller 130 determines the common coordinate system X-Y-Z using the origin r1 of the first robot arm coordinate system x1-y1-z1 and the origin r2 of the second robot arm coordinate system x2-y2-z2. In this embodiment, the controller 130 uses the first robot arm 110 as the "controlled mover", adopts the above-mentioned method, determines the reset path of the "controlled mover", and controls the "controlled mover" to reset first. Then, the controller 130 can reset the common coordinate system, determine the common coordinate system X-Y-Z with the origin r2 of the second robot coordinate system x2-y2-z2 and the origin r3 of the third robot coordinate system x3-y3-z3, and use the above method to determine the reset path of the "controlled mover" (third robot 140), and control the "controlled mover" to reset first.

Please refer to FIG. 11 , which is a schematic diagram showing the relative relationship among the first robot arm, the second robot arm and the third robot arm according to another embodiment of the present disclosure. Taking the second robot 120 (not shown in FIG. 11) as the "stopper" as an example, the controller 130 determines the common coordinate system X-Y-Z with the origin r1 of the first robot coordinate system x1-y1-z1 and the origin r2 of the second robot coordinate system x2-y2-z2. If the controller 130 cannot determine the robot to be reset in the XZ plane, the controller 130 can reset the common coordinate system and determine the common coordinate system X-Y-Z with the origin r2 of the second robot coordinate system x2-y2-z2 and the origin r3 of the third robot coordinate system x3-y3-z3. Then, the aforementioned method is used to determine the robot that can be used as the "controlled mover" and control the "controlled mover" to reset.

In summary, the disclosed embodiment provides a collaborative robot arm system and a reset method thereof. The collaborative robot arm system includes a plurality of robots and a controller, wherein the controller is used to: (1) control all the robots to stop moving, wherein each robot arm has a working vector; (2) determine whether any two of the projection vectors of the working vectors projected onto a coordinate axis overlap with each other; (3) when any two of the projection vectors overlap with each other, control at least one controlled mover of the robots to move along a reset path, wherein the reset path does not pass through the stopper of the robots, wherein the “stopper” is one of the robots, such as a faulty one or a collision one, and the “controlled mover” is the rest of the robots or another one of the robots. In another embodiment, the controller is used to: when it is difficult to determine the robot arm that can be used as the "controlled mover" from one plane of the common coordinate system, the controller can determine the robot arm that can be used as the "controlled mover" from another plane of the same common coordinate system without resetting the common coordinate system. In another embodiment, the controller is used to: after the "controlled mover" is reset, the common coordinate system can be reset, and the reset path of the "controlled mover" can be determined in the reset common coordinate system. Through the above method, the "controlled mover" can be prevented from colliding during the reset process.

In summary, although the present invention has been disclosed as above by the embodiments, it is not intended to limit the present invention. Those with common knowledge in the technical field to which the present invention belongs can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope defined in the attached patent application.

100: Collaborative Robotic Arm System

110: The first robotic arm

120: Second robotic arm

130: Controller

V1: First working vector

V2: Second working vector

r1,r2: origin

x1-y1-z1: first robot arm coordinate system

x2-y2-z2: Second robot arm coordinate system

W1, W2: working point

Claims (18)

A reset method for a collaborative robot arm system includes: controlling a first robot arm and a second robot arm to stop moving, wherein the first robot arm has a first working vector and the second robot arm has a second working vector; determining whether a first projection vector of the first working vector projected on a first coordinate axis and a second projection vector of the second working vector projected on the first coordinate axis overlap; when the first projection vector overlaps with the second projection vector, determining whether a third projection vector of the first working vector projected on a second coordinate axis and a fourth projection vector of the second working vector projected on the second coordinate axis overlap; and when the third projection vector does not overlap with the fourth projection vector, controlling a first controlled mover of the first robot arm and the second robot arm to move along a first reset path, wherein the first reset path does not pass through a working point of a stopper of the first robot arm and the second robot arm. A reset method as described in claim 1, wherein the first reset path is parallel to the second coordinate axis or a third coordinate axis, and the third coordinate axis is perpendicular to the first coordinate axis and the second coordinate axis. The repositioning method as described in claim 1, wherein the first coordinate axis and the second coordinate axis are perpendicular to each other. The repositioning method as described in claim 1, wherein the first coordinate axis and the second coordinate axis are two axes of a common coordinate system. A reset method as described in claim 4, wherein the first working vector is referenced to a first robot arm coordinate system, and the origin of the first robot arm coordinate system coincides with the origin of the common coordinate system. A reset method as described in claim 1, wherein the first working vector is referenced to a first robot arm coordinate system, and the second working vector is referenced to a second robot arm coordinate system; the reset method is further used to: define a common coordinate system, the first coordinate axis of the common coordinate system passes through the origin of the first robot arm coordinate system and the origin of the second robot arm coordinate system. A reset method as described in claim 1, wherein the first reset path is a path approaching or moving away from the stopper. The reset method as described in claim 1 further includes: controlling a third robot arm to stop moving, wherein the third robot arm has a third working vector; determining whether any two of the first projection vector, the second projection vector and a fifth projection vector of the third working vector projected on the first coordinate axis overlap with each other; when any two of the first projection vector, the second projection vector and the fifth projection vector overlap with each other, determining whether the third projection vector, the fourth projection vector and a sixth projection vector of the third working vector projected on the second coordinate axis overlap with each other; and when the third The projection vector, the fourth projection vector and the sixth projection vector do not overlap with each other, and the first controlled mover among the first robot arm, the second robot arm and the third robot arm is controlled to move along the first reset path, wherein the first reset path does not pass through the working point of the stopper of the first robot arm, the second robot arm and the third robot arm, and the second controlled mover among the first robot arm, the second robot arm and the third robot arm is controlled to move along a second reset path, wherein the second reset path does not pass through the working point of the stopper. The repositioning method as described in claim 1 further includes: determining a common coordinate system with two of the first robot arm, the second robot arm and a third robot arm; after controlling the first controlled mover to move, determining a reset common coordinate system with the other two of the first robot arm, the second robot arm and the third robot arm, the other two not completely overlapping the first two; determining a second repositioning path of a second controlled mover of the other two under the reset common coordinate system; and controlling the second controlled mover to move along the second repositioning path. A collaborative robot arm system further includes: a first robot arm having a first working vector; a second robot arm having a second working vector; and a controller for: controlling the first robot arm and the second robot arm to stop moving; determining whether a first projection vector of the first working vector projected on a first coordinate axis and a second projection vector of the second working vector projected on the first coordinate axis overlap; When the first projection vector and the second projection vector overlap , determining whether a third projection vector of the first working vector projected on a second coordinate axis and a fourth projection vector of the second working vector projected on the second coordinate axis overlap; and when the third projection vector and the fourth projection vector do not overlap, controlling a first controlled mover of the first robot arm and the second robot arm to move along a first reset path, wherein the first reset path does not pass through a working point of a stopper of the first robot arm and the second robot arm. A collaborative robot arm system as described in claim 10, wherein the first reset path is parallel to the second coordinate axis or a third coordinate axis, and the third coordinate axis is perpendicular to the first coordinate axis and the second coordinate axis. A collaborative robot arm system as described in claim 10, wherein the first coordinate axis and the second coordinate axis are perpendicular to each other. A collaborative robot arm system as described in claim 10, wherein the first coordinate axis and the second coordinate axis are two axes of a common coordinate system. A collaborative robot system as described in claim 13, wherein the first working vector is referenced to a first robot coordinate system, and the origin of the first robot coordinate system coincides with the origin of the common coordinate system. A collaborative robot system as described in claim 10, wherein the first working vector is referenced to a first robot coordinate system, and the second working vector is referenced to a second robot coordinate system; the controller is further used to: define a common coordinate system, the first coordinate axis of the common coordinate system passes through the origin of the first robot coordinate system and the origin of the second robot coordinate system. A collaborative robot system as described in claim 10, wherein the first reset path is a path approaching or moving away from the stopper. The collaborative robot arm system as claimed in claim 10, wherein the controller is further used to: control a third robot arm to stop moving, wherein the third robot arm has a third working vector; determine whether any two of the first projection vector, the second projection vector and a fifth projection vector of the third working vector projected on the first coordinate axis overlap with each other; when any two of the first projection vector, the second projection vector and the fifth projection vector overlap with each other, determine whether the third projection vector, the fourth projection vector and a sixth projection vector of the third working vector projected on the second coordinate axis overlap with each other; And when the third projection vector, the fourth projection vector and the sixth projection vector do not overlap each other, the first controlled mover among the first robot arm, the second robot arm and the third robot arm is controlled to move along the first reset path, wherein the first reset path does not pass through the working point of the stopper of the first robot arm, the second robot arm and the third robot arm, and the second controlled mover among the first robot arm, the second robot arm and the third robot arm is controlled to move along a second reset path, wherein the second reset path does not pass through the working point of the stopper. The collaborative robot arm system as described in claim 10, wherein the controller is further used to: determine a common coordinate system with two of the first robot arm, the second robot arm and a third robot arm; after controlling the movement of the first controlled mover, determine a reset common coordinate system with the other two of the first robot arm, the second robot arm and the third robot arm, the other two not completely overlapping the first two; under the reset common coordinate system, determine a second reset path of a second controlled mover of the other two; and control the second controlled mover to move along the second reset path.

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