Page 82 - libroBrevetti

Department of Engineering, ICT and Technologies for Energy and Transport Patent Title Safety device for the safe use of industrial apparatuses and robots, and control method for ƌĞĂůƟŵĞ ǀĞƌŝĮĐĂƟŽn of the ŬŝŶĞŵĂƟĐ state values of a ƌŽďŽƟzed apparatus. Rif. CNR 10157 Assignee(s): CNR CNR InƐƟƚute: ITIA Main Inventor: Federico ViceŶƟni Countries: IT, EP, US Priority date: 28/09/2010 Abstract The method validates ŵŽƟŽn ĮŐƵƌĞƐ of mechanisms with sensors (e.g. robots) through ŝŶĞƌƟĂů ƉůĂƞŽƌŵƐ for purpose of safety of machinery. The ĨƵŶĐƟŽŶĂů safety (EN ISO 13489) for robots or similar devices involves the veƌŝĮĐĂƟŽn of reliability and the monitoring of control signals to ensure full (> 99%) deteĐƟŽn of failures. The method introduces a ĨƵŶĐƟŽŶĂl redundancy to the system through external sensors, which are applied to the machine, capable of providing an equivalent inforŵĂƟŽn. Instantaneous kineŵĂƟĐs inconsistencies are ideŶƟĮed in highly dynamic phenomena (eg. Motors runaways), despite the presence of drŝŌ errors in the integrĂƟŽn of sensor signals. In absence of true reference signalsͬĚata (ground truth), both channels are subjected to funĐƟonal tesƟŶg, reducing the probability of not deteĐƟŶŐ data discrepancies. Background The invenƟon refers to robot safety equipment and technology. The verŝĮcaƟon of kinemaƟc signals for the purpose of safety is required in line and along trajectories not known a priori. Known aƉƉůŝĐĂƟons include safety-checks through the veƌŝĮĐĂƟŽn of robot ŵŽƟŽn belonging to intervals recorded before ŵŽƟŽŶ exĞĐƵƟŽn; while the use of ŝŶĞƌƟĂů ƉůĂƞŽƌŵƐ is known for ŵŽƟŽn tracking and the veƌŝĮĐĂƟŽn of safety thresholds, it is not known for the purposes of fƵŶĐƟŽnal safety (not usable in vĂůŝĚĂƟŽŶͬĐerƟĮĐĂƟŽŶ). Technology The method uses generic unsafe channels, related to diīerent sensors, for the cross-veriĮĐĂƟon of safety- criƟcal data. The comparison, running on dedicated certŝĮĞĚ devices, ǀĞƌŝĮes the integrity and consistency of such data. The veƌŝĮĐĂƟŽn method allows the usage of the very same data for zeroing the errors of ŝŶĞƌƟĂů ƉůĂƞŽƌŵƐ, preserving the reliability of the following step oŌ he ĐĂůĐƵůĂƟŽn. Advantages and ApplicaƟons The inveŶƟŽn can be used as a safety equipment added to devices lacking of safety ƉƌŽƉĞƌƟes and are used in collaborĂƟve ƌŽďŽƟĐ applicĂƟŽŶƐ͘ The main advantages are the independent external conĮŐƵƌĂƟŽŶ as an auxiliary system component, the ability to rapidly detect hazardous phenomena and the simplicity of the procedure for resĞƫŶŐ all ĚƌŝŌ errors. Development stage A prototype algorithm (calcƵůĂƟon and logical veriĮĐĂƟon for error zeroing) on experimental plĂƞorm (robot, ŝŶĞƌƟĂů sensor, CPU safe (ISO 13489 PLe) and not safe) is available. ŌĞƌ patent Įling, fƵŶĐƟŽnal safety in data transfer protocols has been completed. 73