EP3890927A1 - Amélioration portant sur et concernant un appareil de commande - Google Patents

Amélioration portant sur et concernant un appareil de commande

Info

Publication number
EP3890927A1
EP3890927A1 EP19821161.7A EP19821161A EP3890927A1 EP 3890927 A1 EP3890927 A1 EP 3890927A1 EP 19821161 A EP19821161 A EP 19821161A EP 3890927 A1 EP3890927 A1 EP 3890927A1
Authority
EP
European Patent Office
Prior art keywords
environment
task set
robotic
data
radiometric
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP19821161.7A
Other languages
German (de)
English (en)
Inventor
William OLNER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cavendish Nuclear Ltd
Original Assignee
Cavendish Nuclear Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from GBGB1819805.1A external-priority patent/GB201819805D0/en
Priority claimed from GBGB1819806.9A external-priority patent/GB201819806D0/en
Priority claimed from GBGB1910943.8A external-priority patent/GB201910943D0/en
Application filed by Cavendish Nuclear Ltd filed Critical Cavendish Nuclear Ltd
Publication of EP3890927A1 publication Critical patent/EP3890927A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Program controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
    • G01T7/00—Details of radiation-measuring instruments
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00—Systems controlled by a computer
    • G05B15/02—Systems controlled by a computer electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C17/00—Monitoring; Testing ; Maintaining
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1625—Truss-manipulator for snake-like motion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40131—Virtual reality control, programming of manipulator
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Definitions

  • This invention concerns improvements in and relating to control apparatus, apparatus for generating controls for robotic units, apparatus for configuring such apparatus, computer implemented methods for controlling apparatus, computer implemented methods for generating control signals for robotic units, computer implemented methods for configuring such apparatus and computer programs comprising instructions for such purposes.
  • the present invention is particularly applicable where the operating environment is hazardous or otherwise hard to access and where a variety of different data types are important to informing on the actions to be taken in the environment by robotic units.
  • control apparatus for one or more robotic units comprising:
  • a. receive at least one data set from a database
  • an interface for a robotic unit optionally an interface for a robotic unit, the interface being adapted to:
  • a. receive the evaluated task set via the telecommunications network; and b. provide operating instructions to the robotic unit according to the content of the evaluated task set; 5) optionally a robotic unit adapted to operate in the environment according to the operating instructions.
  • control apparatus for one or more robotic units comprising:
  • a. receive at least one data set from a database
  • an interface for a robotic unit the interface being adapted to:
  • a. receive the evaluated task set via the telecommunications network; and b. provide operating instructions to the robotic unit according to the content of the evaluated task set;
  • a robotic unit adapted to operate in the environment according to the operating instructions.
  • apparatus for generating control signals for one or more robotic units comprising:
  • a. receive at least one data set from a database
  • c. receive a proposed task set from the operator; d. evaluate one or more characteristics of the proposed task set against valid characteristics;
  • the apparatus of the third aspect of the invention may be a part of apparatus for generating and communicating a task set to one or more robotic units, the apparatus further comprising:
  • the second processor being adapted to:
  • the apparatus of the third aspect of the invention may be part of apparatus for generating and communicating a task to one or more robotic units, the apparatus further comprising:
  • an interface for a robotic unit the interface being adapted to:
  • a. receive the evaluated task set via the telecommunications network; and b. provide operating instructions to the robotic unit according to the content of the evaluated task set.
  • the apparatus of the third aspect of the invention may be part of control apparatus for one or more robotic units, the apparatus further comprising: a robotic unit adapted to operate in the environment according to the operating instructions.
  • the apparatus of the third aspect of the invention may be part of control apparatus for one or more robotic units, the apparatus further comprising: one or more databases for storing one or more data sets.
  • the invention provides apparatus for configuring apparatus for generating a task set for one or more robotic units, the apparatus comprising:
  • a configuring processor adapted to: a. receive inputs from an operator and generate control signals for a robotic unit from amongst the one or more robotic units from those inputs;
  • a receiver for one or more observed data sets from the one or more robotic units provided with the control signals the receiver being adapted to communicate a data set from an observed data set to one or more databases.
  • the configuring processor may be a first processor as defined in the first and/or second and/or third aspect of the invention or may be a further processor.
  • the receiver may be a first processor as defined in the first and/or second and/or third aspect of the invention.
  • the apparatus for configuring apparatus for generating a task set for one or more robotic units may provide a determination of the spatial form of the environment.
  • determination of the spatial form of the environment may include a scan of the
  • positions of the robotic unit preferably positions of the robotic unit, more particularly positions of the spatial scanner provided on the robotic unit.
  • the spatial form of the environment may include a first spatial scan of the environment, for instance from a first spatial scan position, preferably to give a first spatial scan data set.
  • the apparatus for configuring apparatus for generating a task set for one or more robotic units may provide a determination of the radiometric form of the environment.
  • the determination of the radiometric form of the environment may include a scan of the environment from one or more positions, preferably positions of the robotic unit, more particularly positions of the radiometric scanner provided on the robotic unit.
  • the radiometric form of the environment may include a first radiometric scan of the environment, for instance from a first radiometric scan position, preferably to give a first radiometric scan data set.
  • the configuring processor may provide a user interface for an operator, preferably adapted to control the position of the robotic unit in the environment, such as during a
  • the configuring processor may control one or more characteristics of the robotic unit, for instance the position of a scanner or detector provided on the robotic unit, within the environment.
  • the robotic unit may be provided at a series of positions within the environment with one or more determinations of one or more types being made at one or more or all of those positions.
  • the spatial form of the environment may include n spatial scans of the environment, for instance from an nth spatial scan position, preferably to give n spatial scan data sets.
  • the radiometric form of the environment may include r radiometric scans of the environment, for instance from an rth radiometric scan position, preferably to give r radiometric scan data sets.
  • the positions used for one or more spatial scans may match those used for one or more radiometric scans.
  • the number of spatial scans may be less than, equal to or greater than the number of radiometric scans.
  • the two or more spatial scan data sets are preferably combined into one spatial scan data set.
  • the spatial form of the environment may be determined using a spatial scanner, for instance a LIDAR type scanner.
  • the spatial form of the environment may be represented by a point cloud type set of data points, preferably for a position of the scanner.
  • the point clouds for different positions of the scanner may be provided with point set registration to provide positional alignment between them.
  • Preferably the point clouds are utilised without surface mode creation or conversion to 3D surfaces.
  • the radiometric scanner Prior to one or more radiometric scans, may be calibrated for the environment. The calibration may be provided in the environment and/or by a simulation of the environment.
  • the radiometric investigation of the environment and/or radiometric instrument/scanner may be provided according to the contents of EP2691791 and/or GB2502501.
  • the investigation may provide a measurement of one or more emitted characteristics of the activity source(s) from the one of more detected characteristics of the activity source(s) by applying a factor accounting for the detector device efficiency, for instance the intrinsic detector device efficiency, and/or a calibration factor, for instance a calibration efficiency, such as a calibration efficiency accounting for the location.
  • the investigation may provide a measurement of the total activity for one or more or all of the activity sources in the location, potentially with an uncertainty range there for and/or an upper and/or lower uncertainty value.
  • a single detector device may be provided or used.
  • the single detector device may be provided at one or more, and preferably at a plurality, of measurement positions. Preferably the single detector device is moved between measurement positions during the method’s performance and/or during repeats thereof.
  • the movement may be provided by moving the detector device and/or by moving the location, for instance by rotation.
  • a plurality of detector devices may be provided or used. Preferably each detector device is provided at a different measurement position. A plurality of measurement positions may be provided. Preferably each detector device remains at the measurement position during the methods performance and/or during repeats thereof.
  • the detector device may be sensitive to and/or detect one or more forms of emission from the activity source, for instance neutrons, alpha particles, beta particles or gamma rays.
  • the detector device may be sensitive to and/or detect one or more different energies or ranges of energies.
  • the detector device may be sensitive to and/or detect uranium and/or plutonium and/or one or more isotopes thereof.
  • the measurement data set may include one or more of: count rate at an energy; count rate at a range of energies; total count rate, for instance at all energies the detector device is sensitive to.
  • the measurement data set may include for a plurality, and preferably for all, measurement positions, separate values for one or more of: count rate at an energy for a measurement position; count rate at a range of energies for a measurement position; total count rate for a measurement position, for instance at all energies the detector device is sensitive to.
  • the measurement data set may include a total count rate for all measurement positions combined.
  • the configuring of the apparatus may include testing and/or configuration of the use of one or more operations within the environment.
  • the configuring of the apparatus may include calibration of a laser cutter.
  • the apparatus of the first aspect and/or second and/or third and/or fourth aspect of the invention may be part of apparatus for conducting a spatial survey of the environment and/or for detection of radiation emissions in the environment and/or for conducting a radiometric survey of the environment.
  • the apparatus of the first aspect and/or second and/or third and/or fourth aspect of the invention may be part of apparatus for altering the environment.
  • the apparatus for altering the environment may include one or more of the following:
  • a manipulation device for moving one or more items in the environment and/or parts of the environment
  • a lifting device for lifting one or more items in the environment and/or parts of the environment
  • a cutting device for instance a laser cutter, for cutting one or more items in the
  • the apparatus of the first aspect of the invention and/or the second aspect and/or third and/or fourth aspect of the invention may be apparatus for an evaluated task set which is conducted in a hazardous environment, such as a radioactive environment and/or an environment containing one or more sources of alpha and/or beta and/or gamma and/or neutron emissions.
  • a hazardous environment such as a radioactive environment and/or an environment containing one or more sources of alpha and/or beta and/or gamma and/or neutron emissions.
  • the apparatus of the first aspect and/or second aspect and/or third and/or fourth aspect of the invention may be apparatus for an evaluated task set which is to be conducted in an environment that an operator cannot physically enter and/or cannot safely enter.
  • a computer implemented method of controlling one or more robotic units comprising:
  • a computer implemented method of controlling one or more robotic units comprising:
  • the method of the seventh aspect of the invention may be a part of a method for generating and communicating a task set to one or more robotic units, the method further comprising: 1) by the second processor, the second processor:
  • the method of the seventh aspect of the invention may be part of a method for generating and communicating a task to one or more robotic units, the method further comprising: 1) by an interface for a robotic unit, the interface:
  • the method of the seventh aspect of the invention may be part of a control method for one or more robotic units, the method further comprising: operating a robotic unit in the environment according to the operating instructions.
  • the method of the seventh aspect of the invention may be part of control method for one or more robotic units, the method further comprising: using one or more databases for storing one or more data sets.
  • the invention provides a method for configuring apparatus for generating a task set for one or more robotic units, the method comprising:
  • the method of the fifth and/or sixth and/or seventh and/or eighth aspect of the invention may be part of a method for conducting a spatial survey of the environment and/or for detection of radiation emissions in the environment and/or for conducting a radiometric survey of the environment.
  • the method of the fifth and/or sixth and/or seventh and/or eighth aspect of the invention may be part of a method for altering the environment.
  • the method for altering the environment may include one or more of the following: using a manipulation device for moving one or more items in the environment and/or parts of the environment;
  • a lifting device for lifting one or more items in the environment and/or parts of the environment
  • a cutting device for instance a laser cutter, for cutting one or more items in the environment and/or parts of the environment.
  • the method of the fifth and/or sixth and/or seventh and/or eighth aspect of the invention may be part of a method for an evaluated task set which is conducted in a hazardous environment, such as a radioactive environment and/or an environment containing one or more sources of alpha and/or beta and/or gamma and/or neutron emissions.
  • a hazardous environment such as a radioactive environment and/or an environment containing one or more sources of alpha and/or beta and/or gamma and/or neutron emissions.
  • the method of the fifth and/or sixth and/or seventh and/or eighth aspect of the invention may be part of a method for an evaluated task set which is to be conducted in an environment that an operator cannot physically enter and/or cannot safely enter.
  • the invention provides a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the steps of a method of controlling one or more robotic units, the method comprising:
  • the invention provides a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the steps of a method of controlling one or more robotic units, the method comprising:
  • the invention provides a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the steps of a method for generating control signals for one or more robotic units, the control signals being in the form of a task set, the method comprising:
  • the computer program of the eleventh aspect of the invention may carry out the steps of a part of a method for generating and communicating a task set to one or more robotic units, the method further comprising:
  • the computer program of the eleventh aspect of the invention may carry out the steps of a part of a method for generating and communicating a task to one or more robotic units, the method further comprising:
  • the computer program of the eleventh aspect of the invention may carry out the steps of a part of a control method for one or more robotic units, the method further comprising: operating a robotic unit in the environment according to the operating instructions.
  • the computer program of the eleventh aspect of the invention may carry out the steps of a part of a control method for one or more robotic units, the method further comprising: using one or more databases for storing one or more data sets.
  • the invention provides a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the steps of a method for configuring apparatus for generating a task set for one or more robotic units, the method comprising:
  • the computer program of the ninth and/or tenth and/or eleventh and/or twelfth aspect of the invention may carry out part of a method for conducting a spatial survey of the environment and/or for detection of radiation emissions in the environment and/or for conducting a radiometric survey of the environment.
  • the computer program of the ninth and/or tenth and/or eleventh and/or twelfth aspect of the invention may carry out part of a method for altering the environment.
  • the method for altering the environment may include one or more of the following:
  • a cutting device for instance a laser cutter, for cutting one or more items in the environment and/or parts of the environment.
  • the computer program of the ninth and/or tenth and/or eleventh and/or twelfth aspect of the invention may carry out part of a method for an evaluated task set which is conducted in a hazardous environment, such as a radioactive environment and/or an environment containing one or more sources of alpha and/or beta and/or gamma and/or neutron emissions.
  • a hazardous environment such as a radioactive environment and/or an environment containing one or more sources of alpha and/or beta and/or gamma and/or neutron emissions.
  • the computer program of the ninth and/or tenth and/or eleventh and/or twelfth aspect of the invention may carry out part of a method for an evaluated task set which is to be conducted in an environment that an operator cannot physically enter and/or cannot safely enter.
  • any of the aspects of the invention may include any one or more of the possibilities, options and features of the other aspects of the invention and/or any one or more of the following possibilities, options and features.
  • One or more or all of the robotic units may be provided with a camera.
  • the camera may be a still image and/or video capable camera.
  • One or more or all of the robotic units may be provided with a light.
  • One or more or all of the robotic units may be provided with a direction indicator, for instance a laser pointer, potentially to show the centre of the field of view of the camera and/or the radiometric scanner.
  • One or more or all of the robotic units may be provided with a spatial scanner, for instance a LIDAR type scanner.
  • One or more or all of the robotic units may be provided with a radiometric scanner, for instance the radiometric investigation of the environment and/or radiometric
  • instrument/scanner may be provided according to the contents of EP2691791 and/or GB2502501.
  • the investigation may provide a measurement of one or more emitted characteristics of the activity source(s) from the one of more detected
  • a single detector device may be provided or used.
  • the single detector device may be provided at one or more, and preferably at a plurality, of measurement positions.
  • Preferably the single detector device is moved between measurement positions during the method’s performance and/or during repeats thereof. The movement may be provided by moving the detector device and/or by moving the location, for instance by rotation.
  • a plurality of detector devices may be provided or used. Preferably each detector device is provided at a different measurement position. A plurality of measurement positions may be provided. Preferably each detector device remains at the measurement position during the methods performance and/or during repeats thereof.
  • the detector device may be sensitive to and/or detect one or more forms of emission from the activity source, for instance neutrons, alpha particles, beta particles or gamma rays.
  • the detector device may be sensitive to and/or detect one or more different energies or ranges of energies.
  • the detector device may be sensitive to and/or detect uranium and/or plutonium and/or one or more isotopes thereof.
  • the measurement data set may include one or more of: count rate at an energy; count rate at a range of energies; total count rate, for instance at all energies the detector device is sensitive to.
  • the measurement data set may include for a plurality, and preferably for all, measurement positions, separate values for one or more of: count rate at an energy for a measurement position; count rate at a range of energies for a measurement position; total count rate for a measurement position, for instance at all energies the detector device is sensitive to.
  • the measurement data set may include a total count rate for all measurement positions combined.
  • One or more or all of the robotic units may be provided with apparatus for altering the environment or a part thereof, for instance a laser cutter.
  • Two or more different types of robotics unit may be the subject of the aspects of the invention.
  • Robotics units may differ in type due to the capabilities they provide, for instance due to the tools they are provided with, for instance a spatial scanner compared with a radiometric scanner.
  • Robotics units may differ in type due to having different manufacturers.
  • Robotics units may differ in type due to different operating mechanisms, for instance snake arm robotic units, compared with jointed arm robotic units, compared with crane robotic units etc.
  • the robotic units preferably use Cartesian type definitions for their characteristics, such as position.
  • the tip of the robotic unit and/or the position of the scanner may be so defined.
  • the definition of characteristics is preferably stated relative to five degrees of freedom, such as position in 3D [for instance x, y, z] and orientation of the robotic unit in 2D.
  • the one or more data sets may include data sets of more than one type.
  • the one or more data sets may include one or more spatial data sets for the environment, for instance as a first type.
  • the one or more data sets may include radiometric data sets for the
  • the one or more data sets may include one or more combined data sets, for instance as a third type.
  • One or more combined data sets may be provided in which spatial data and radiometric data is combined in the data set, for instance with the radiometric data overlain on spatial data.
  • the one or more data sets may be generated by previous use of the apparatus.
  • the one or more data sets may be generated by previous use of other apparatus, for instance spatial scanning and/or radiometric scanning apparatus.
  • One or more or all of the data sets may be stored as PLY format files.
  • the one or more databases may be provided by the same device.
  • the one or more databases containing data sets of the same type are provided by the same device.
  • the one or more databases may be provided by different devices, with data sets of the different types being separated from one another on different devices.
  • a database for spatial data sets may be provided.
  • a database for radiometric data sets may be provided.
  • a database for combined data sets may be provided.
  • the one or more or all of the databases may be directly connected to a first processor or may be indirectly connected via a further unit.
  • the one or more first data processors may be computer programs, devices or a
  • the one or more first data processor performed functions may be provided by a single first data processor.
  • the one or more first data processors adapted to receive at least one data set from a database may receive one type of data set, for instance a combined data set, for instance a combined data set in which spatial data and radiometric data are combined in the data set, for instance with the radiometric data overlain on spatial data.
  • the one or more first data processors adapted to receive at least one data set from a database may receive two types of data set, for instance a spatial data set and a radiometric data set.
  • the first processor may generate a combined data set in which spatial data and radiometric data are combined in the data set, for instance with the radiometric data overlain on spatial data.
  • Preferably spatial data sets and radiometric data sets are combined when they were obtained at the same position within the environment.
  • a position definition such as a source identifier, is associated with each data set to allow a determination of whether data sets can be combined or not.
  • the one or more first data processors adapted to receive at least one data set from a database may process the one or more data sets received, for instance to apply a conversion to the data sets.
  • the conversion may enable the converted data set(s) to be used in the display of the representation of the data set to the operator provided by one of the one or more first processors.
  • the display of the representation of the data set to the operator may be provided by computer software, for instance VR control software, preferably operating on one of the first data processors.
  • the VR control software is preferably adapted to display a VR representation of the environment to the operator and/or to allow the operator to move within the VR representation of the environment and/or to define the position of elements, such as robotic units, within the VR representation of the environment and/or to provide the operator with radiometric information on parts of the environment within the VR representation of the environment and/or to defining positions for tasks, such as moving and cutting, within the VR representation of the environment.
  • elements such as robotic units
  • the apparatus may further include a VR headset for the operator.
  • the apparatus may be provided with a graphical user interface.
  • the apparatus may further include one or more user input devices.
  • the user input devices are preferably adapted to allow the operator to build a proposed task set.
  • the proposed task set may be built up taking into account spatial data shared with the operator and/or radiometric data shared with the operator and/or the combination of those and/or information on the materials within the environment and/or forming parts of the environment.
  • the proposed task set may be built of one or more movements of the robotic unit, for instance one or more extensions and/or one or more retractions and/or one or more rotations and/or one or more twists applied to one or more of the parts of the robotic unit.
  • the proposed task set may be built of one or more operations by the robotic unit within the environment, for instance one or more spatial scans and/or one or more radiometric scans and/or one or more cutting operations and/or one or more movements applied to a part of the environment.
  • the proposed task set may be partially built by the operator, for instance an end position at which an action is to be taken, and/or may be partially built by the computer software, for instance to transition from a position to the end position sought by the operator.
  • the one or more first data processors may evaluate one or more characteristics of the proposed task set against one or more test characteristics by obtaining a set of test characteristics, for instance from a data base.
  • test characteristics may be provided which are permissible characteristics.
  • test characteristics may be provided which are impermissible characteristics.
  • One or more test characteristics may be defined for multiple environments, for instance permissions and/or limitations on the rate of movement of a robotic unit, for instance permissions and/or limitations on the laser power useable.
  • One or more test characteristics may be defined for a robotic unit type, for instance permissible and/or impermissible movements or combinations of movement.
  • One or more test characteristics may be defined for a specific environment, for instance impermissible positions for a part of the robotic unit, for instance due to that position colliding with a part of the environment.
  • One or more test characteristics may be amended during the conduct of a task set, for instance to reflect the changes on what is permissible and/or impermissible due to the changes in the environment by the conduct of the task set so far.
  • the operator may make a visual assessment within the VR representation of the environment of whether a proposed task set should be an evaluated task set, for instance by considering the position of the robotic unit relative to the environment in the VR representation of the environment.
  • a proposed task set which includes one or more characteristics which do not pass the evaluation may be declined as a task set for use and/or may not be classified as an evaluated task set.
  • a proposed task set which includes one or more impermissible characteristics may be declined as a task set for use and/or may not be classified as an evaluated task set.
  • a proposed task set which includes only characteristics which pass the evaluation may be accepted as a task set for use and/or may be classified as an evaluated task set.
  • a proposed task set which includes only permissible characteristics may be accepted as a task set for use and/or may be classified as an evaluated task set.
  • One or more evaluated task sets may be stored for late use. They may be stored in the first data processor or maybe stored in the second processor. An operator may generate one or more evaluated task sets the time taken for completion of which is at least twice the time taken to establish the evaluated tasks, more preferably at least three times that time and more preferably at least five times that time.
  • the evaluated task set may be provided in a queue relative to one or more other evaluated task sets for the same and/or for different robotic units.
  • the operator may provide a series of evaluated task for sequential use in an environment.
  • the evaluated task set may be provided to an output interface, for instance an application programming interface or API.
  • the output interface may convert the evaluated task set into operating instructions compatible with the interface for the robotic unit and/or for the robotic unit to which the evaluated task set is directed.
  • the second processor may be a computer program and/or a device.
  • the second processor may be a server.
  • the second processor may be a communications server.
  • the second processor may have one or more first data processors as clients, for instance greater than three clients.
  • the second processor may have one or more interfaces for robotic units as clients, for instance greater than 10 clients.
  • the second processor may be a request-response server.
  • a request may be for the communication of an evaluated task to an interface for a robotic unit.
  • a response may be a confirmation that the communication of the evaluated task to the interface for the robotic unit has been made.
  • a request may be for the communication of a robotic data set from the robotic unit to a first processor.
  • a response may be that the communication of the robotic data set to the first processor has been made.
  • the second processor may be informed by the first processor to communicate with a particular interface and/or for the interface to communicate with a particular robotic unit for a given evaluated task set and/or robotic data set.
  • the interface for a robotic unit may convert the evaluated task set received into operating instructions for the robotic unit.
  • the apparatus may further provide for the interface for a robotic unit to apply a correction to the operating instructions arising from the evaluated task set.
  • the correction may be for the robotic unit and/or for the environment the robotic unit is operative in.
  • the apparatus may further provide for the robotic unit to provide positional information to the interface.
  • the apparatus may further provide for the interface to provide the positional information to the second processor and potentially hence to a first processor.
  • the positional information may include positional information on one or more or all parts of the robotic unit, preferably to fully define the positions it occupies with the environment.
  • the positional information may enable a first processor to provide visualisation of the position of the robotic unit in the environment to an operator.
  • Figure 1 is a schematic illustration of a robotics operating system, according to an embodiment of the invention, showing the interaction of data and components within the system;
  • Figure 2a details the components for a first robot arm useful for the invention, particularly for data acquisition stage(s);
  • Figure 2b details the components for a second robot arm useful for the invention, particularly for operation stage(s);
  • FIG. 3 is a schematic illustration of the layered architecture used in an embodiment of the invention for the VR interface
  • FIG. 4 is a schematic illustration of the VR hardware interface architecture
  • Figure 5 is a schematic illustration of the steps involved in the spatial scanning of the environment
  • Figure 6 is a schematic illustration of the steps involved in the radiometric data collection for the environment
  • Figure 7 is a schematic illustration of the steps involved in the overlaying of spatial scan and radiometric data collection results
  • Figure 8 is a schematic illustration of the steps involved in verifying the spatial scan operations planned
  • Figure 9 is a schematic illustration of the steps involved in verifying the radiometric data collection operations planned.
  • Figure 10 is a schematic illustration of the steps involved in verifying the cutting operations planned
  • FIGS 11, 12, 13 and 14 show experimental tests results from an embodiment according to the invention
  • Figure 15 is an alternative schematic illustration of a robotics operating system, according to a further embodiment of the invention, showing the interaction of data and components within the system; and Figures 16 and 17 show further experimental test results from an embodiment according to the invention.
  • the hazard might be due to radiation, chemicals, bio-hazards or the like.
  • the restriction may simply be one of difficulty of access due to physical constraints. In either event, the lack of direct visual inspection makes the conduct of any work at the location harder to plan, verify and implement.
  • the work might be cleaning, characterisation, removal, cutting or the like, for instance in a decommissioning operation. Cells and other chambers involved in the storage and/or processing of nuclear material are particularly problematic when decommissioning is needed.
  • Previous visualisation assistance is limited in the extent of the information provided and in terms of the ease of use of that information.
  • the present invention seeks to provide a greater extent of information and/or to provide for easier use of that information, for instance through improved visualisation of the situation to the operator.
  • the present invention seeks to enable centralised expertise to be used and shared to locations all over the world so that the best solutions are provided and can be very quickly updated or modified.
  • Previous approaches have also tended to determine the work needed and propose the next steps to perform that as they advance through the works. This may mean delays before the next decision can be taken on the next step in the works, whilst time consuming radiometric scans for instance are completed.
  • the present inventions seeks to stack up a series of viable steps to form a program of works that can be conducted without expert consideration as they progress, whilst still being confident that the full sequence of the steps can be conducted without interruption.
  • the overarching aim of the invention is to integrate one or more data acquisition stages for an environment, with Virtual Reality (VR) consideration of that data, to improve one or more operation stages applied to the environment subsequently.
  • VR Virtual Reality
  • the data acquisition usefully includes spatial information on the environment, together with radiometric information on the contents of that environment.
  • the user has far more useful information on the environment. This enables, amongst other benefits, improved planning and verification of the operation stages to be applied to the environment. More
  • the robotics operating system includes a database 3 holding a series of 3D data sets on the environment 5 within which the robotics 7, 7’ will be operating.
  • a computer [database] can hold the results of a spatial scan [the 3D data set] of a room [the environment] in which the snake-arm [robotics] is to be controlled to provide cutting [operations] .
  • one or more 3D data sets are imported from the database 3 and via a conversion process into the VR control software 9.
  • the conversion process applied to the 3D data sets allows the automatic conversion of point cloud type data into a VR compatible format automatically.
  • the VR control software 9 After the conversion of the 3D data sets, the VR control software 9 will run calculations to determine where that 3D data set can be utilized safely before it is shown to the VR operator; the person using the VR control software 9 to set up operations. The VR operator is then able to define robotics operations with an almost infinite level of precision.
  • the VR operator inputs a desired series of operations to be performed by the robotics 7 or 7’ utilizing the VR equipment which operations are then considered by the VR control software 9.
  • the VR control software 9 verifies that these operations are permissible under predetermined operating constraints. If they are not, then a revised series of operations is sought from the VR operator. If they are permissible, then they are sent to a robotics control broker server 11.
  • these operations can then be executed in real time or queued to be sent at a later date or exported to a file for further analysis.
  • an interface 13 [named“Sirus”] is used to apply the operations to robotics 7 in the form of snake-arm hardware 15.
  • a 3rd party robotics interface 17 is used to provide the interface to apply the operations to robotics 7’ in the form of 3rd party hardware 19 when that is the chosen robotics 7’.
  • the robotics control broker server 11 enables interfacing with a wide variety of robotics 7, 7’ etc from a wide variety of different suppliers. Only two robotics 7, 7’ are shown in Figure 1 for the sake of clarity. This robotic control broker server 11 is capable of receiving multiple operations from multiple VR software environments and forwarding them on to the appropriate robotics platform being used at the time. Only two VR control software 9, 9’ environments are shown in Figure 1 for the purposes of clarity.
  • the system architecture selected is beneficial as it allows workflow of taking 3D data sets and radiometric data sets from a remote site, importing them into a centralised VR control software 9 at a location so they can be used to define the best robotic operations, whilst then sending those robotic operations out to a remotely deployed robotics 7, 7’ in real time, anywhere in the world.
  • the centralised VR control software 9 at its location enables the best radiometric, VR, spatial, structural and other technical specialist to be provided at that location facilitating cooperation but still allowing the benefits of their knowledge to be readily applied at the actual environment where robotic operations are necessary across the world.
  • manual control software 21 is provided for that purpose. This can of course be used at any stage where manual control of the robotics 7, 7’ is required.
  • the robotics operating system has been modified slightly.
  • the VR control software 9 has been modified through the use of an alternative software and the manual control software 21 has also been revised.
  • This section of the system is responsible for investigating the environment 5, collecting the data sets and providing the data which allows the spatial and radiometric overlay to be constructed and accessed.
  • the two different data set types may be collected separately during passes of the robotics 7, 7’, such as a robotic arm, through the environment 5.
  • the robotic arm 7a is provided with a light 23 to illuminate the environment 5, a camera 25 to provide visual images [still or video] of the environment 5, a laser pointer 27 to show which part of the environment 5 the camera 25 is pointing at and a 3D laser scanner 29 to collect the spatial data set on the environment 5 from a given position from which a data set is collected.
  • LIDAR light detection and ranging
  • the first pass of the robotic arm 7a generally collects the spatial scan results.
  • Each data set is in affect a point cloud.
  • the 3D data set is provided as a point cloud data set in PLY format.
  • the 3D data set provides an accurate representation of the 3D space defining the environment 5.
  • radiometric data for the overlay is collected in a separate second pass; a radiometric scanner 31 replaces the 3D laser scanner 29 on the robotic arm 7a.
  • a suitable radiometric approach is detailed in EP2691791 and GB2502501, the contents of which are
  • radiometric detection approaches can be used by mounting a suitable radiometric detector and/or through different processing of the signals detected.
  • the radiometric data is provided in PLY format too.
  • both data sets could be collected in a single pass through the environment 5.
  • This section of the system is responsible for directly driving the robotics 7, 7’ and feeding back into the VR control software 9 valid poses and transforms of the robotics 7, 7’.
  • the robotics 7, 7’ will generally be operating in Cartesian mode. In this mode, the position of the tip of the robotic arm 15 is defined with respect to 5 degrees of freedom. Those are the 3D position of the tip of the robotic arm 15 in space and the 2D orientation definition of the tip (the heading - roll is not free).
  • Input demands received by the robotics 7, 7’ will be interpreted as‘correct’; the robotics 7, 7’ will apply the relevant compensation (based on a calibration process mentioned below) transparently and internally to the interface 13 named“Sirius”. All output from the interface 13 named“Sirius” will also be corrected.
  • the frame of reference for the demands on the robotic arm 15 is right-handed with positive Z in the direction the robotic arm 15 is pointing and Y is vertically up with X towards the left as the arm 15 is viewed from arm base to arm tip.
  • the origin is the position of the tip of the robotic arm 15 when fully retracted.
  • the interface 13 named“Sirius” will stream the current estimated joint positions and linear introduction position of the robotic arm 15, via the robotics control broker server 11, to the VR control software 9 for rendering the robotic arm 15 in VR.
  • the interface 13 named“Sirius” will also provide current estimated robotic arm 15 tip transforms (post-compensation) to manual control software 21 and radiometric instrument software, such as RadScan software.
  • the system architecture has four different layers in relation to the VR interface architecture. These are a DATA layer, COMMS layer, CONTROL layer and PRESENTATION layer.
  • the 3D data sets and radiometric datasets are both stored in the database(s) as PLY files 35 in the DATA layer. Those PLY files 35 go through the COMMS layer to the CONTROL layer where they are received into the conversion process and the VR control software 9 which act to provide the Loader 37.
  • the Loader 37 provides the combined representation of the data to the VR operator in the PRESENTATION layer in Unity 39.
  • the VR operator interacts with the system via Unity 25 to determine what operations to take where and in what sequence within the environment 5. Those operations are then provided to the UI Control 41 in the CONTROL layer; the UI Control 41 can be a part of the robotic control broker server 11. The UI Control 41 interacts with the API 43
  • This unit contains all the software for VR visualisation by the VR operator and for the interfaces between that and, via the robotics control broker server 11, the interfaces 13, 17 etc to the robotics 7, 7’ in Figure 1.
  • the VR software and interface architecture is illustrated with reference to Figure 4.
  • the VR operator wears an HTC Vive headset 51 which is provided with a wireless connection to the VR GUI [graphical user interface] unit 53, referenced as Unity 39 in Figure 3 and the system architecture above.
  • the VR GUI unit 53 is in communication with the PLY file loading interface 55 for receiving the overlay PLY files when generated for a given scene identity.
  • the VR operator is provided with a working space 57 in which to visualise and interact and suitable input devices for selecting operations to be considered and other inputs.
  • Windows 10 is one potential approach, with direct connection to the VR Goggles via HDMI as well as an Ethernet connection for communication with both the radiometric instruments and the robotics.
  • the VR operator can provide the sequence of movements for the robotic arm and the cutting location and pattern required. These are considered by the VR GUI unit 53 to ensure that they are physically possible and acceptable sequences or other actions. If so, then the operations selected by the VR operator and approved by them and/or the VR control software 9 are, expressed in C++ [or other general purpose programming language] and/or ZeroMQ [or other high performance messaging library], collated and provided as an operation queue 55.
  • the operation queue 55 passes through the API wrapper 57 for the particular robotics 7, 7’ that is intended to receive the operations so as to allow seamless communication between the VR operator and the robotics 7, 7’ which may be from one of many suppliers.
  • the operations are then passed out to the robotics control broker server 11 and on to the relevant robotics 7, 7’ for implementation.
  • a robotics package of the type illustrated in Figure 2a is provided in the environment.
  • the operator controls the robot arm 7a, for instance a snake-arm, and uses the images from the video camera 25 to place the laser scanner 29 in a first measurement position in the environment 5.
  • the first measurement position may be the position of the robot arm 7a when first introduced to the environment 5 or after minimal movement.
  • a first scan is initiated by a start signal and the laser scanner 29 conducts its scan; a point cloud acquisition is achieved.
  • the first scan thus generates the first scan data set and this is provided with a scene identity so as to allow subsequent association of point clouds and radiometric data for the same measurement position.
  • the completion of the scan indicates that movement of the robotic arm can occur again to the operator.
  • the first scan data set is created using the data from the laser scanner transformed to the coordinate system used by the robotic arm and in particular the laser scanner position for that data set.
  • the first scan data set is stored off device using the communications interface and is a PLY file.
  • the operator then manually controls movement of the robot arm to a second measurement position and a second scan is performed there to generate a second scan data set which is also communicated to the remote store.
  • the process is repeated through n further measurement positions to give n scans and n scan data sets.
  • Each data set is processed in the same way using offline stitching of points to generate the n processed data sets still stored remotely.
  • the n processed data sets are read for importation into the VR model when needed.
  • the Figure 2a robot arm 7a is provided with a radiometric scanner 31 of the desired type and calibration of the radiometric scanner 31 to the environment 5 is performed. This involves the operator manually moving the robot arm 7a to a first calibration position and gathering first calibration data set there. The process is repeated for the c calibration positions to give c calibration data sets.
  • the calibration data sets are used to correct the results from the radiometric scanner 31 for influencing factors arising from that environment 5 and at that scene identity for the position.
  • the robot arm 7a is provided with a series of movement instructions via the VR operator and VR control software 9. These movement instructions are the sequential movements that the robot arm 7a will make from its starting position to reach each of the positions at which radiometric data collection is required. These are preferably the same positions as are used in the spatial scanning and so have common scene identities.
  • the series of movements allows the system to operate without direct user involvement, for instance overnight such that the operator is not required to be involved throughout this time consuming part of the process.
  • the robot arm 7a will make one or more of the series of movements to reach a first radiometric collection position. Whilst stationary at that position, a first radiometric measurement is made to form a first radiometric measurement data set. The data set is transformed according to the calibration results and a first corrected radiometric measurement data set is generated. A gamma spectra is a preferred form of result. The data set has a scene identity associated with it. The first corrected radiometric measurement data set is then outputted to a remote location for storage. This is repeated for r radiometric measurements at r positions to give r radiometric measurement data sets and r corrected ones. As desired, one or more of the r corrected data sets can be recalled and reimported to the VR control software 9.
  • the system Having completed the scan of the environment 5 and the radiometric measurement of the environment 5, the system to proceed to the alteration of the environment 5 using the robotics 7b.
  • this may feature use of a different arm 7b provided with a laser cutter 33 for laser cutting of a part of the environment 5 to remove a piece of the environment to another location, inside or outside the environment 5.
  • a robotics package of the type shown in Figure 3b could be used, with the robotic arm 7b provided at the end with a laser cutter 33.
  • laser calibration steps may be conducted so as to ensure effective and controlled operation of the laser within the environment 5.
  • the overlay is initiated for a position by referencing the scene identity for that position.
  • the associated point cloud data and radiometric data are retrieved from the storage database(s) 3 using the common scene identity. Using both data sets the radiometric overlay is calculated and this is saved as a PLY file too. As a formed radiometric overlay file this can then be transferred to the VR control software 9 for visualisation and use by the VR operator.
  • the planning of the cuts takes into account the scan information displayed through the VR system to the VR operator and the radiometric data that is overlain with that scan information.
  • the VR operator can see where in the environment 5 to make the cuts based upon the physical representation achieved through the scan and can take into account radiometric information relative to those cuts, for instance the presence or absence of radiometric material or the level of radiometric material present and/or characteristics thereof.
  • the overlay and the VR operator access to it is a powerful tool for effective design of the following phases, for instance in decommissioning.
  • a significant aspect of the cutting set up is that the VR control software 9 checks that the movements planned for the robotic arm 7b and the cuts planned are permissible under predefined criteria before allowing them to be stacked and the sequence started. In this way impossible or undesirable movements of the robot arm 7b are avoided and undesirable cutting is also avoided. This functionality comes from VR control software 9 based checks and also from the VR operator being able to see the movements and other operations before they occur to ensure that there are no collisions or other clashes.
  • the VR operator defines a calibration point within the VR environment and then the VR operator initiates the verification process from the VR environment.
  • a simulation using the VR control software 9, is run to produce a set of transforms the robotic arm 7b will need to perform to require to reach that point within the environment 5.
  • the resulting transforms are rendered and displayed in the VR environment to the VR operator.
  • the VR operator visually inspects the resulting robotic arm 7b render to ensure that no collisions are likely.
  • Once verified the VR operator can initiate the move in the real world system, either at that time or in a future sequence to be conducted. Once that movement to that calibration point has been dealt with then the next, its overlay and the transforms to reach it can be considered through to the completion of all the movements and other actions desired.
  • the VR control software 9 When working in real time, after the first movement is completed, the VR control software 9 then requests the camera view from the robotic arm 7b and renders it so that it is visible to the VR operator. The VR operator then re-aligns the camera view within the VR environment to get the best match with the point cloud model. The translation offsets required for this match are then passed back through the controller and store within for use in future runs.
  • the VR operator defines all the move points within the VR environment and then the VR operator initiates the verification process from the VR environment.
  • the software runs a simulation to produce a set of transforms the arm will require to reach the first point.
  • the resulting transforms are rendered and displayed in the VR environment.
  • the VR operator visually inspects the resulting robotic arm 7a render to ensure that no collisions are likely, once verified they approve that point. These steps are then repeated for all points to be defined. Once all points have been verified the VR operator initial the move to the first point.
  • the point information is then pass through the controller to the robotic arm 7a itself and the move begins. Once the move is confirmed as finished by
  • the controller initiates the radiometric scan. When the scan is complete, the controller initiates the move to the next point. These measurement steps are then repeated until all scans have completed, this completion status is then passed back to the VR environment.
  • FIG. 9 The sequence and interrelationship between the components for this part of the process is shown in Figure 9 for one embodiment.
  • the process works in a similar way in relation to cutting operations.
  • First the VR operator defines all the cut points within the Virtual Reality environment.
  • the VR operator then initiates the verification process from the Virtual Reality environment.
  • the controller runs a simulation to produce a set of transforms the arm will require to reach the first point.
  • the resulting transforms are rendered and displayed in the Virtual Reality environment.
  • the VR operator visually inspects the resulting arm render to ensure that no collisions are likely, once verified they approve that cut. These approval steps are then repeated for all cuts defined. Once all cuts have been verified the VR operator initiates the move to the first cut.
  • the cut information is then pass through the controller to the robotic arm and its cutter and the move and then the cut begins.
  • the controller then polls the arm to ascertain if the cut has finished and when it has the controller initiates the next movement and/or cut combination. These cutting steps are then repeated until all cuts have completed.
  • Cartesian cut moves are supplied to the robotic arm 7b as a series of Cartesian waypoints.
  • Each point can individually be specified as a control point for a curve that intersects that point (using Catmull-Rom spline interpolation) or as a stopping point where the robotic arm 7b decelerates to and then accelerates off in a different direction towards the next point.
  • the robotic arm 7b maintains a constant speed for the laser focal-point.
  • the cutting speed should be constant, to cut consistently and to avoid objects behind the cut receiving larger than desired laser illumination.
  • A“Point” consists of five values, the first three being the X, Y and Z position of the demanded point, the final two P and R (pitch and roll) being the angle the robotic arm should approach the aforementioned point.
  • a Valid point is one that is technically reachable by the snake arm. E.g. lm directly in front of the arm with no rotation (0,0, 1,0,0).
  • An Invalid point is one that is impossible to reach by the robotic arm due to its technical constraints. E.g. 5m directly in front with no rotation (0,0, 5, 0,0). This is deemed unreachable as it is outstretched beyond the reach of the arm.
  • Table 1 - Chart illustrating failure conditions (RED) and success conditions (Green) Table 1 provides a list of predefined points selected to test the criteria outlines above. Dataset VR Validation Expected Result Actual
  • Tables 2 and 3 comprise of a list of operations to run through to test that the logic for the validation of both scan operations and cut operations are fully tested.
  • Figure 11 shows the results obtained from fitting the Faro 3D scanner to the snake arm, conducting a scan to create a cloud point and then importing that into the VR environment for visualisation. This is before any radiometric data is added. The result was successful.
  • Figure 12 shows the results from the subsequent radiometric measurements.
  • the radiometric instrument was mounted on the snake arm and was positioned appropriately in the environment and a scan was completed. The results were saved and then combined with the spatial scan results to provide the overlay for inspection.
  • the radiometric scan overlay is visible in blue, that corresponding to radiometric scanned space by with no radiation detected as no source was present. Other colours would reflect different levels of radiation. Again the result was successful.
  • the VR operator selected a part of the environment, an upright pipe, and set up a series of cuts on that part.
  • the visualisation of the cuts is shown in Figure 13. The cut paths were successfully defined and executed.

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Abstract

Cette invention concerne un appareil de commande pour des unités robotiques, ainsi que des procédés de commande, dans lesquels l'acquisition de données comprend des informations spatiales, conjointement avec des informations radiométriques sur le contenu de cet environnement. Lorsque ces deux ensembles de données sont superposés par réalité virtuelle, l'utilisateur a beaucoup plus d'informations utiles sur l'environnement. Ceci permet, entre autres avantages, une planification et une vérification améliorées des étapes/actions commandées de manière robotisée pour être appliquées à l'environnement. L'utilisation de la réalité virtuelle permet un positionnement amélioré du système robotique dans l'environnement et un positionnement amélioré pour les opérations, telles que la découpe au laser, fournies par le système robotique dans des positions dans l'environnement. Ceci est utile dans des opérations de déclassement et d'autres situations.
EP19821161.7A 2018-12-04 2019-12-04 Amélioration portant sur et concernant un appareil de commande Withdrawn EP3890927A1 (fr)

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GBGB1819805.1A GB201819805D0 (en) 2018-12-04 2018-12-04 Improvements in and relating to control systems
GBGB1819806.9A GB201819806D0 (en) 2018-12-04 2018-12-04 Improvements in and relating to control system
GBGB1910943.8A GB201910943D0 (en) 2019-07-31 2019-07-31 Improvements in and related to control apparatus
PCT/GB2019/053426 WO2020115479A1 (fr) 2018-12-04 2019-12-04 Amélioration portant sur et concernant un appareil de commande

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JP5860081B2 (ja) * 2014-02-27 2016-02-16 ファナック株式会社 ロボットの動作経路を生成するロボットシミュレーション装置
KR101585502B1 (ko) * 2014-04-14 2016-01-22 한국원자력연구원 CAD Kernel을 이용한 절단공정 시뮬레이션 방법 및 그 시스템
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JP2017047519A (ja) * 2015-09-04 2017-03-09 Ｒａｐｙｕｔａ Ｒｏｂｏｔｉｃｓ株式会社 クラウドロボティクスシステム、情報処理装置、プログラム、並びに、クラウドロボティクスシステムにおけるロボットの制御または支援方法
JP6457421B2 (ja) * 2016-04-04 2019-01-23 ファナック株式会社 シミュレーション結果を利用して学習を行う機械学習装置，機械システム，製造システムおよび機械学習方法

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