WO2019063228A1 - Security tracking system, apparatus, method, storage medium and security system - Google Patents
Security tracking system, apparatus, method, storage medium and security system Download PDFInfo
- Publication number
- WO2019063228A1 WO2019063228A1 PCT/EP2018/073170 EP2018073170W WO2019063228A1 WO 2019063228 A1 WO2019063228 A1 WO 2019063228A1 EP 2018073170 W EP2018073170 W EP 2018073170W WO 2019063228 A1 WO2019063228 A1 WO 2019063228A1
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- WIPO (PCT)
- Prior art keywords
- mechanical arm
- arm
- detection module
- rotation angle
- sub
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39082—Collision, real time collision avoidance
Definitions
- the first controller is configured to:
- a communications unit configured to send the rotation angle obtained by the rotation angle obtaining unit to a controller, so that the controller determines a location and a posture of an end of the mechanical arm according to the rotation angle.
- the first controller determines, by the first controller, the location and the posture of the end of the mechanical arm based on a first model of the mechanical arm, wherein the first model is different from a second model of the mechanical arm based on which a second security tracking system of the mechanical arm determines the location and the posture of the end of the mechanical arm.
- Figure 3 shows a schematic diagram of a first security tracking system corresponding to the mechanical arm of Figure 2;
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Burglar Alarm Systems (AREA)
- Manipulator (AREA)
Abstract
Embodiments of the present invention disclose a first security tracking system, comprising: a detection module, wherein at least one detection module is mounted on each sub-arm of a mechanical arm, and each detection module is configured to obtain, during a movement process of the mechanical arm, a rotation angle of the detection module relative to a geometrical center of the detection module, and send the rotation angle to a first controller; and the first controller is configured to: receive the rotation angle from each detection module; for each sub-arm, determine a rotation angle of a rotation shaft of the sub-arm according to a spatial location relationship between each detection module mounted on the sub-arm and the sub-arm and the received rotation angle from each detection module mounted on the sub-arm; and determine a location and a posture of an end of the mechanical arm according to the determined rotation angle of the rotation shaft of each sub-arm. The first security tracking system serves as a redundant system, and can monitor security when a system fault occurs in the mechanical arm.
Description
Security tracking system, apparatus, method, storage medium and security system
Technical Field
The present invention relates to the technical field of security control, in particular to a security tracking system, apparatus, method, storage medium and security system.
Background Art
Mechanical arms, also known as automatic arms, mechanical hands, etc., can mimic certain motion functions of the human hand and arm, used to grasp and transport articles, or operate the automatic operating apparatus of a tool according to a fixed program. Therefore, the security of the mechanical arm of a robot is critical in current plant and other application scenarios.
An existing mechanical arm has a security control system, and relies on its own system to perform security detection on the posture of the mechanical arm and monitor the security of its working state. However, when a mechanical arm's own system fails, the posture data on the mechanical arm cannot be accurately and reliably obtained, and no security monitoring can be performed on the mechanical arm. Therefore, when the control system of the mechanical arm itself fails, the posture of the mechanical arm is not monitored, which may cause personal injury or work failure .
Summary of the Invention
In a first aspect, an embodiment of the present invention provides a first security tracking system for a mechanical arm, the first security tracking system comprising:
a detection module, wherein at least one detection module is mounted on each sub-arm of a mechanical arm, and each detection module is configured to obtain, during a movement process of the mechanical arm, a rotation angle of the detection module relative to a geometrical center of the detection module, and send the rotation angle to a first controller; and
the first controller is configured to:
receive the rotation angle from each detection module;
for each sub-arm, determine a rotation angle of a rotation shaft of the sub-arm according to a spatial location relationship between each detection module mounted on the sub- arm and the sub-arm and the received rotation angle from each detection module mounted on the sub-arm; and
determine a location and a posture of an end of the mechanical arm according to the determined rotation angle of the rotation shaft of each sub-arm.
In this embodiment, the first security tracking system obtains a rotation angle of the detection module relative to a geometrical center of the detection module through a detection module mounted on a sub-arm of the mechanical arm, and calculates the location and posture of the end of the mechanical arm by the first controller; the first security tracking system detects the posture of the mechanical arm in real time, and evaluates and checks the security of the working of the mechanical arm to ensure the secure operation of the mechanical arm. Since the first security tracking system is provided with its own detection module and a first controller, it works without being affected by the operation of the mechanical arm itself, and is not operated by the control system of the mechanical arm itself, capable of ensuring the
ability to track the security of the mechanical arm even if the mechanical arm itself fails.
In an embodiment, when determining the location and the posture of the end of the mechanical arm according to the determined rotation angle of the rotation shaft of each sub- arm, the first controller is specifically configured to:
determine the location and the posture of the end of the mechanical arm based on a first model of the mechanical arm, wherein the first model is different from a second model of the mechanical arm based on which a second security tracking system of the mechanical arm determines the location and the posture of the end of the mechanical arm.
In this embodiment, the first security tracking system establishes a first model, and the location and posture of the end of the mechanical arm is determined by the first model; in addition, the first model is different from a second model in a second security tracking system of the mechanical arm. Thus, the first security tracking system and the second security tracking system of the mechanical arm independently detect the security tracking system of the mechanical arm, the first security tracking system serving as a redundant system for security detection of the mechanical arm to effectively ensure the secure operation of the mechanical arm.
In an embodiment, the first controller is further configured to:
send a warning signal and/or a halt instruction when the location and the posture of the end of the mechanical arm reach a preset warning location and posture.
In this embodiment, when the location and posture of the end of the mechanical arm reach a warning location and posture, a warning signal and/or a halt instruction is sent notifying maintenance personnel of the current operation status of the mechanical arm to prevent any security accidents.
In a second aspect, an embodiment of the present invention provides a detection module mounted on a sub-arm of a mechanical arm, the detection module comprising:
a rotation angle obtaining unit, configured to obtain, during a movement process of the mechanical arm, a rotation angle of the detection module relative to a geometrical center of the detection module; and
a communications unit, configured to send the rotation angle obtained by the rotation angle obtaining unit to a controller, so that the controller determines a location and a posture of an end of the mechanical arm according to the rotation angle.
In this embodiment, a detection module attachable to a sub- arm of the mechanical arm is provided. In other words, the detection module is mounted on the outer surface of the sub- arm, such that the detection module and the mechanical arm operate without affecting each other. The rotation angle of the detection module relative to a geometrical center of the detection module is obtained by the detection module and sent to the controller to determine the location and posture of the end of the mechanical arm.
In a third aspect, an embodiment of the present invention provides a controller in a first security tracking system of a mechanical arm, the controller comprising:
a receiving unit, configured to receive a rotation angle from a detection module, wherein at least one detection module is mounted on each sub-arm of the mechanical arm, and the rotation angle from the detection module is a rotation angle of the detection module relative to a geometrical center of the detection module; and
a processing unit, configured to:
for each sub-arm, determine a rotation angle of a rotation shaft of the sub-arm according to a spatial location relationship between each detection module mounted on the sub- arm and the sub-arm and the received rotation angle from each detection module mounted on the sub-arm; and
determine a location and a posture of an end of the mechanical arm according to the determined rotation angle of the rotation shaft of each sub-arm.
In this embodiment, the controller comprises a receiving unit and a processing unit, wherein the receiving unit receives a rotation angle, and the processing unit determines a rotation angle of the rotation shaft of the sub-arm based on a spatial location relationship between the detection module mounted on the sub-arm and the sub-arm and the rotation angle of the detection module. Further, the location and posture of the end of the mechanical arm is determined according to the rotation angle of rotation shaft of each sub-arm on the mechanical arm. The controller is not controlled by the system of the mechanical arm. Thus, even when the system of the mechanical arm fails, the controller can still perform effective security detection on the mechanical arm.
In an embodiment, the processing unit is specifically configured to determine a location and posture of the end of the mechanical arm based on a first model of the mechanical arm, wherein the first model is different from a second model of the mechanical arm based on which a second security tracking system of the mechanical arm determines the location and posture of the end of the mechanical arm.
In this embodiment, the processing unit determines the location and posture of the end of the mechanical arm based on the first model, the first model being different from the model in the second security tracking system of the mechanical arm. Thus, different models are used to carry out security tracking and monitoring of the mechanical arm, improving the security of monitoring, and making up for the defects of determining security using the same model.
In an embodiment, the controller further comprises:
a warning unit, configured to send a warning signal and/or a halt instruction when the processing unit determines that the location and the posture of the end of the mechanical arm reach a preset warning location and posture.
In this embodiment, the controller gives alarms about any dangerous working states of the mechanical arm by the warning unit, notifying the maintenance personnel in a timely manner to improve security.
In a fourth aspect, an embodiment of the present invention provides an information sending method, comprising:
measuring, by a detection module mounted on a sub-arm of the mechanical arm, during a movement process of the mechanical arm, a rotation angle of the detection module relative to a geometrical center of the detection module; and
sending, by the detection module, the rotation angle to a controller, wherein the rotation angle is used for determining a location and a posture of an end of the mechanical arm.
In this embodiment, by a detection module mounted on a sub-arm of the mechanical arm, a rotation angle of the detection module relative to a geometrical center of the detection module can be obtained and sent to the controller that processes the rotation angle.
In a fifth aspect, an embodiment of the present invention provides a security tracking method for a mechanical arm, comprising :
receiving, by a first controller, a rotation angle from each detection module, wherein at least one detection module is mounted on each sub-arm of the mechanical arm, wherein the rotation angle from the detection module is a rotation angle of the detection module that is relative to a geometrical center of the detection module and that is obtained by the detection module during a movement process of the mechanical arm;
for each sub-arm, determining, by the first controller, a rotation angle of a rotation shaft of the sub-arm according to a spatial location relationship between each detection module mounted on the sub-arm and the sub-arm and the received rotation angle from each detection module mounted on the sub- arm; and
determining, by the first controller, a location and a posture of an end of the mechanical arm according to the determined rotation angle of the rotation shaft of each sub- arm.
In this embodiment, a method for security tracking of the operation of a mechanical arm is provided, wherein, by the detection module mounted on each sub-arm, a rotation angle of a
geometrical center of the detection module is obtained; then, by the first controller, the rotation angle is obtained, and the rotation angle of the rotation shaft of the sub-arm is determined according to a spatial location relationship between the detection module and the sub-arm; the first controller obtains the location and posture of the end of the mechanical arm by calculating the rotation angles of the rotation shafts of each sub-arm. Thus, the location and posture of the end of the mechanical arm are monitored by the detection module mounted on the sub-arm and the first controller independent of the mechanical arm for effective security tracking of the mechanical arm.
In an embodiment, the determining, by the first controller, of a location and a posture of an end of the mechanical arm according to the determined rotation angle of the rotation shaft of each sub-arm comprises:
determining, by the first controller, the location and the posture of the end of the mechanical arm based on a first model of the mechanical arm, wherein the first model is different from a second model of the mechanical arm based on which a second security tracking system of the mechanical arm determines the location and the posture of the end of the mechanical arm.
In this embodiment, the first security tracking system establishes a first model, and the location and posture of the end of the mechanical arm is determined by the first model; in addition, the first model is different from a second model in a second security tracking system of the mechanical arm. Thus, the first security tracking system and the second security tracking system of the mechanical arm independently detect the security tracking system of the mechanical arm, the first security tracking system serving as a redundant system for security detection of the mechanical arm to effectively ensure the secure operation of the mechanical arm.
In an embodiment, the method further comprises:
sending, by the first controller, a warning signal and/or a halt instruction when determining that the location and the
posture of the end of the mechanical arm reach a preset warning location and posture.
In this embodiment, when the location and posture of the end of the mechanical arm reach a warning location and posture, a warning signal and/or a halt instruction is sent notifying the maintenance personnel of the current operation status of the mechanical arm to prevent any security accidents.
In a sixth aspect, an embodiment of the present invention provides a computer-readable storage medium, storing a machine- readable program, wherein when being executed by a processor, the machine-readable program performs the method described above .
In a seventh aspect, an embodiment of the present invention provides an apparatus for performing security tracking on a mechanical arm, comprising:
at least one memory, configured to store a machine-readable program; and
at least one processor, configured to invoke the machine- readable program stored in the at least one memory, to perform the method described above.
In a seventh aspect, an embodiment of the present invention provides a security system for a mechanical arm, the security system comprising:
a second security tracking system, wherein the second security tracking system comprises:
at least one encoder, wherein the encoder is mounted on each rotation shaft of the mechanical arm, to obtain a rotation angle corresponding to the rotation shaft and send the rotation angle to a second controller of the mechanical arm; and
the second controller is configured to: receive each rotation angle from the at least one encoder, and determine a location and a posture of an end of the mechanical arm according to each received rotation angle of the encoder; and the first security tracking system described above.
In an embodiment, the system further comprises:
a third controller, configured to perform a warning and/or a halt according to the locations and the postures of the end of the mechanical arm that are respectively determined by the first security tracking system and the second security tracking system.
In an embodiment, the first security tracking system is further configured to send a warning signal and/or a halt instruction to the second controller when determining that the location and the posture of the end of the mechanical arm reach a preset warning location and posture; and
the second controller is further configured to perform a warning and/or a halt according to the warning signal and/or the halt instruction from the first security tracking system.
Brief Description of the Drawings
The above-mentioned and other features and advantages of the present invention will become apparent to those skilled in the art by the following detailed description of preferred embodiments of the present invention by referring to the attached drawings. In the drawings,
Figure 1 shows a schematic diagram of a security system of a mechanical arm in an embodiment of the present invention ;
Figure 2 shows a schematic diagram of a relationship between a mechanical arm and a first security tracking system according to an embodiment of the present invention;
Figure 3 shows a schematic diagram of a first security tracking system corresponding to the mechanical arm of Figure 2;
Figure 4 shows a schematic diagram of a detection module in a first security tracking system of a mechanical arm according to an embodiment of the present invention;
Figure 5 shows a schematic diagram of a first controller in a first security tracking system of a mechanical arm according to an embodiment of the present invention;
Figure 6 shows a schematic diagram of an information sending method according to an embodiment of the present invention ;
Figure 7 shows the steps of security tracking performed by a security tracking system according to an embodiment of the present invention,
wherein the reference numerals are as follows:
Specific Embodiments
In order to make the technical solutions and advantages of the present invention more comprehensible, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and
are not intended to limit the scope of the present invention .
As shown in Figure 1, the present invention provides a security system 3 for a mechanical arm 10, the security system 3 comprising a first security tracking system 1 and a second security tracking system 2, wherein the first security tracking system 1 and the second security tracking system 2 in the security system 3 work independently of each other, without affecting each other, to track and monitor the security of the mechanical arm 10. In a specific embodiment, the security system 3 comprises a third controller 60 configured to perform a warning and/or a halt according to the location and the posture of the end of the mechanical arm 10 that are respectively determined by the first security tracking system 1 and the second security tracking system 2.
For the security system 3, the first security tracking system 1 is further configured to send a warning signal and/or a halt instruction to the second controller 50 when determining that the location and the posture of the end of the mechanical arm 10 reach a preset warning location and posture; and the second controller 50 is further configured to perform a warning and/or a halt according to the warning signal and/or the halt instruction from the first security tracking system 1.
The first security tracking system 1 and the second security tracking system 2 in the security system 3 can be activated according to the specific operating conditions of the mechanical arm 10.
Specifically, when the security requirements are extremely demanding, the first security tracking system 1 and the second security tracking system 2 are operated in parallel. In other words, both of them simultaneously track the security of the mechanical arm 10. When any one of them detects that the mechanical arm 10 has failed, it performs a halt immediately, and the security of the mechanical arm 10
is effectively improved by the formed redundant security control .
When the security requirement is low and the cost of a halt is large, the first security tracking system 1 can be used to perform security tracking and warning on the mechanical arm 10. Thus, even when there is a deviation in the movement of the mechanical arm 10, for example, when an error occurs in the encoder 40 in the second security tracking system 2, an early warning can be sent prompting maintenance personnel to verify the current operating state, thereby preventing any security accidents.
The present invention provides a first security tracking system 1 for a mechanical arm 10, the first security tracking system 1 being independent of a second security tracking system 2 that comes with the mechanical arm 10. By a security tracking system serving as a redundant system, the location and posture of the mechanical arm 10 can be monitored in real time. Even if the operating control system of the mechanical arm 10 fails, reliable security tracking can still be performed on the mechanical arm 10, thereby avoiding any personal injuries or operation failures caused by failure to monitor the location and posture of the mechanical arm 10.
A first security tracking system 1 of a mechanical arm 10, wherein the first security tracking system 1 comprises: a detection module 20 and a first controller 30, at least one detection module 20 is mounted on each sub-arm 11 of the mechanical arm 10, and each detection module 20 is configured to obtain, during a movement process of the mechanical arm 10, a rotation angle of the detection module 20 relative to a geometrical center of the detection module 20, and send the rotation angle to a first controller 30. The first controller 30 is configured to receive the rotation angle from each detection module 20; for each sub- arm 11, the first controller 30 determines a rotation angle of a rotation shaft of the sub-arm 11 according to a spatial location relationship between each detection module 20
mounted on the sub-arm 11 and the sub-arm 11 and the received rotation angle from each detection module 20 mounted on the sub-arm 11; further, the first controller 30 determines a location and a posture of an end of the mechanical arm 10 according to the determined rotation angle of the rotation shaft of each sub-arm 11.
In a specific embodiment, as shown in Figure 2, a detection module 20 can be mounted on each sub-arm 11, and a detection module 20 on one sub-arm 11 obtains a rotation angle of the detection module 20 relative to a geometrical center of the detection module 20 and sends it to the first controller 30, the first controller 30 being an industrial computer (IPC) . For each sub-arm 11, the controller determines a rotation angle of a rotation shaft of the sub-arm 11 according to a spatial location relationship between a detection module 20 mounted on the sub-arm 11 and the sub-arm 11 and the received rotation angle from a detection module 20 mounted on the sub-arm 11, and then determines the location and the posture of the end of the mechanical arm 10 according to the determined rotation angle of the rotation shaft of each sub-arm 11.
As shown in Figure 3, when determining the location and the posture of the end of the mechanical arm 10 according to the determined rotation angle of the rotation shaft of each sub-arm 11, the first controller 30 is specifically configured to determine the location and the posture of the end of the mechanical arm 10 based on a first model of the mechanical arm 10, wherein the first model is different from a second model of the mechanical arm 10 based on which a second security tracking system 2 of the mechanical arm 10 determines the location and the posture of the end of the mechanical arm 10.
The first model is established on the basis of the number of sub-arms 11 in the mechanical arm 10, the length of the rotation shaft of each sub-arm 11, and the connection relationship between the sub-arms 11 of the mechanical arm 10.
The first controller 30 is further configured to send a warning signal and/or a halt instruction when the location and the posture of the end of the mechanical arm 10 reach a preset warning location and posture.
Specific implementation manners include, but are not limited to, the following methods: 1) sending a warning signal when the location reaches a preset warning location; 2) when the location reaches a preset warning location, sending a halt instruction to instruct the mechanical arm 10 to halt moving; 3) when the location reaches a preset warning location, sending a warning signal and a halt instruction; 4) when the posture is a preset posture, sending a warning signal; 5) when the posture is a preset posture, sending a halt instruction; 6) when the posture is a preset posture, sending a warning signal and a halt instruction; 7) when the location reaches a preset warning location and the posture is a preset posture, sending a warning signal; 8) when the location reaches a preset warning location and the posture is a preset posture, sending a halt instruction; 9) when the location reaches a preset warning location and the posture is a preset posture, sending a warning signal and a halt instruction.
Based on the existing arm 10, the first security tracking system 1 of the mechanical arm 10 provided by the present invention is independent of the second security tracking system 2 of the mechanical arm 10 itself and serves as a redundant system of the mechanical arm 10. It can perform monitoring together with the second security tracking system 2 of the mechanical arm 10 simultaneously to improve the accuracy of the security tracking.
In a specific embodiment, as shown in Figure 4, the present invention provides a first security tracking system 1 for a mechanical arm 10, wherein the first security tracking system 1 comprises a detection module 20, the detection module 20 comprising a rotation angle obtaining unit 21, configured to obtain, during a movement process of the mechanical arm 10, a rotation angle of the detection
module 20 relative to a geometrical center of the detection module 20; and a communications unit 22, configured to send the rotation angle obtained by the rotation angle obtaining unit 21 to a controller, so that the controller determines a location and a posture of an end of the mechanical arm 10 according to the rotation angle. The detection module 20 and the mechanical arm 10 operate without affecting each other. The rotation angle of the detection module 20 relative to a geometrical center of the detection module 20 is obtained by the detection module 20 and sent to the controller to determine the location and posture of the end of the mechanical arm 10.
In a specific embodiment, the number of detection modules 20 is the same as that of the sub-arms 11 of the mechanical arm 10; in other words, one detection module 20 is mounted on one sub-arm 11, and each detection module 20 comprises a rotation angle obtaining unit 21 and a communications unit 22. In the embodiment, an inertial sensor can specifically be used as the rotation angle obtaining unit 21; a rotation angle relative to a geometrical center thereof is measured by the inertial sensor, and the communications unit 22 transmits the rotation angle obtained by the rotation angle obtaining unit 21 to a controller.
For the mechanical arm 10 or the field of robot technology, its motion is analyzed by the principle of robot kinematics. In other words, the kinematics referred to herein refers to robot kinematics. Robot kinematics is divided into forward kinematics and reverse kinematics. In forward kinematics, with known joint variables of a robot, the location and posture of an end of the robot are calculated. In reverse kinematics, with known location and posture of a robot, all joint variables of the corresponding location of the robot are calculated.
In the above-mentioned embodiment of the present invention, the security tracking system comprises a hardware portion and a machine-readable program portion. The hardware
portion mainly refers to the detection module 20 mounted on the sub-arm 11 of the mechanical arm 10. A detection module 20 is attached to the sub-arm 11, and can be attached to any location on the sub-arm 11. Usually, for convenience of implementation, the detection module 20 is attached to a location that does not affect the movement of the mechanical arm 10. The software machine-readable program portion mainly refers to a data processing unit 32 and a model unit first controller 30, disposed specifically on an industrial PC (IPC) . The machine-readable program is independent of the control system and the second security tracking system that control the movement of the mechanical arm 10. Thus, the security tracking by of the first security tracking system 1 is not affected.
As shown in Figure 3 and Figure 5, the first controller 30 comprises a receiving unit 31 and a processing unit 32, and the receiving unit 31 is configured to receive a rotation angle from the detection module 20, wherein at least one detection module 20 is mounted on each sub-arm 11 of the mechanical arm 10, and a rotation angle from the detection module 20 is a rotation angle of the detection module 20 relative to a geometrical center of the detection module 20. For each sub-arm 11, the processing unit 32 is configured to determine a rotation angle of a rotation shaft of the sub-arm 11 according to a spatial location relationship between each detection module 20 mounted on the sub-arm 11 and the sub-arm 11 and the received rotation angle from each detection module 20 mounted on the sub-arm 11, and then determine the location and the posture of the end of the mechanical arm 10 according to the determined rotation angle of the rotation shaft of each sub-arm 11.
After the above-described detection module 20 is mounted on the sub-arm 11, the detection module 20 and the processing unit 32 need to be connected first to enable wireless communication and data transmission. The processing unit 32 is specifically configured to determine the location and posture of the end of the mechanical arm 10 based on a
first model of the mechanical arm 10, wherein the first model is different from a model of the mechanical arm 10 based on which a second security tracking system 2 of the mechanical arm 10 determines the location and the posture of the end of the mechanical arm 10.
The first model is established on the basis of the number of sub-arms 11 in the mechanical arm 10, the length of the rotation shaft of each sub-arm 11, and the connection relationship between the sub-arms 11 of the mechanical arm 10.
In addition, the controller further comprises a warning unit 33, configured to send a warning signal and/or a halt instruction when the processing unit 32 determines that the location and the posture of the end of the mechanical arm 10 reach a preset warning location and posture.
After the detection module 20 is mounted on the sub-arm 11, installation parameter information is obtained. Specifically, the installation parameter information includes the location of the sub-arm 11 corresponding to the detection module 20, and the physical location relationship between the detection module 20 and the corresponding rotation shaft of the sub-arm 11.
The detection modules 20 all adopt a unified structure, and thus can be flexibly configured according to the type of the mechanical arm 10, simply by configuring the respective detection modules 20 with the sub-arms 11 correspondingly.
Specifically, the method of calculating a rotation angle of the rotation shaft of the sub-arm 11 is as follows:
For the detection module 20, its posture change matrix RPY(9a, 0o, 0n) is:
RPY(0a, 0„,0„)
cos0„cos0„ cos0„sin0„sin0„— sin0„cos0„ cos0„sin 0„cos0„ sin0„sin 0„ = f sin 0„cos0„ sin 0„sin0„sin0„ + co s 0„ co s0m sin0„ sin 0„cos — co,s0„ sin 0_ ~sin 0„ cos0„sin0„ cos0„cos0„
IS
The rotation vector of the inertial sensor relative to the reference coordinate system z after the movement of the mechanical arm 10 is obtained by equation (1) :
The rotation vector of the inertial sensor relative the reference coordinate system z before the movement of mechanical arm 1010 is obtained by equation ( 1 ) :
The rotation angle of the rotation shaft of the measured arm 11 is obtained by equations (2) and (3) as follows:
Θ = arccos
The z-axis direction is the normal vector direction of the rotation of the rotation shaft, and ( 0„, 0o,0n) is the rotation angle of the inertial sensor relative to its own geometrical center .
Further, the location and posture of the end of the mechanical arm 10 can be obtained by a physical parameter model, specifically by a D-H model of the mechanical arm 10, that is, by a location offset relationship between the sub- arms 11 of the mechanical arm 10 and each rotation shaft, in combination with the kinematics of the mechanical arm 10.
Specifically, the obtained rotation angles of the rotation shafts of the respective sub-arms 11 are substituted into the physical transformation matrix of the mechanical arm 10:
to obtain the coordinates and posture of the working location of the end of the mechanical arm 10, wherein ETi+1
represents the transformation matrix from joint i to joint i+ 1.
The communications unit 22 of the detection module 20 is configured to transmit the rotation angles obtained by the rotation angle obtaining unit 21 to a controller, so that the controller determines the location and posture of the end of the mechanical arm 10 according to the rotation angles. The communications unit 22 transmits in real time the rotation angle of the rotation shaft of the sub-arm 11, so that the processing unit 32 processes the spatial location relationship between the detection module 20 and the sub-arm 11 in a timely manner and the received rotation angles of each detection module 20 mounted on the sub-arm 11 to determine the rotation angle of the rotation shaft of the sub-arm 11, thereby determining the location and posture of the end of the mechanical arm 10 according to the determined rotation angle of the rotating shaft of each sub-arm 11 to effectively monitor the security of the mechanical arm 10.
The communications unit 22 can transmit the rotation angle obtained by the rotation angle obtaining unit 21 to a controller through a Bluetooth method. Certainly, real-time communication can also be performed by other means to ensure real-time security monitoring of the mechanical arm 10.
Based on the above-described security tracking system, apparatus and security system 3, the present invention further provides a corresponding method.
In a specific embodiment, as shown in Figure 6, an information sending method is provided, and the following steps are performed on the detection module 20 side:
Step 100 A detection module 20 mounted on a sub-arm 11 of the mechanical arm 10 measures a rotation angle of the detection module 20 relative to a geometrical center of the detection module 20 during a movement process of the mechanical arm 10.
Step 200 The detection module 20 sends a rotation angle to a controller for determining the location and posture of the end of the mechanical arm 10.
For other optional implementation manners of the information sending method, reference may be made to the method performed by the detection module 20 in the foregoing embodiments, and details are not given herein again.
As shown in Figure 7, the present invention further provides a security tracking method for the mechanical arm 10, comprising the following steps:
Step 300 A first controller 30 receives a rotation angle from each detection module 20, wherein at least one detection module 20 is mounted on each sub-arm 11 of the mechanical arm 10, wherein the rotation angle from a detection module 20 is a rotation angle of the detection module 20 that is relative to a geometrical center of the detection module 20 and that is obtained by the detection module 20 during a movement process of the mechanical arm 10.
Step 400 For each sub-arm 11, the first controller 30 determines a rotation angle of a rotation shaft of the sub- arm 11 according to a spatial location relationship between each detection module 20 mounted on the sub-arm 11 and the sub-arm 11 and the received rotation angle from each detection module 20 mounted on the sub-arm 11.
Step 500 The first controller 30 determines a location and posture of an end of the mechanical arm 10 according to the determined rotation angle of the rotation shaft of each sub-arm 11.
In Step 500, the determining, by the first controller 30, of a location and posture of an end of the mechanical arm 10 according to the determined rotation angle of the rotation shaft of each sub-arm 11 comprises:
determining, by the first controller 30, the location and the posture of the end of the mechanical arm 10 based on a first model of the mechanical arm 10, wherein the first
model is different from a second model of the mechanical arm 10 based on which a second security tracking system 2 of the mechanical arm 10 determines the location and the posture of the end of the mechanical arm 10.
Step 600 The first controller 30 sends a warning signal and/or a halt instruction when determining that the location and posture of the end of the mechanical arm 10 reach a preset warning location and posture.
For other optional implementation manners of the security tracking method, reference may be made to the method performed by the first controller 30 in the foregoing embodiments, and details are not given herein again.
Based on the same technical concept, embodiments of the present invention further provide a machine-readable medium storing machine-readable instructions for causing a machine to perform the method as described above. Specifically, a system or apparatus equipped with the machine-readable medium on which a software program code for implementing the functions of any of the above-described embodiments is stored can be provided, and a computer, or a Central Processing Unit (CPU) or a Micro Processor Unit (MPU) , of the system or apparatus is caused to read and execute the program code stored in the storage medium.
In this case, the program code itself read from the storage medium can implement the functions of any of the above embodiments, and thus the program code and the storage medium storing the program code constitute a part of an embodiment of the present invention.
Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks [such as Compact Disc Read-Only Memory (CD-ROM), Compact Disk-Recordable (CD-R) , Compact Disk-ReWritable (CD- RW) , Digital Video Disc-Read Only Memory (DVD-ROM), Digital Versatile Disc-Random Access Memory (DVD-RAM) , Digital Versatile DisclReWritable (DVD1RW) ] , magnetic tapes, nonvolatile memory cards, and Read-Only Memory (ROM) . Optionally, a program code can be downloaded from a server computer or a cloud via a communications network.
In addition, it should be made clear that some or all of the actual operations can be performed not only by executing the program code read out by the computer, but also by an operating system or the like operating on the computer based on the instructions of the program code, thereby implementing the functions of any of the above-mentioned embodiments.
Further, it can be understood that the program code read out from the storage medium is written into a memory provided in an expansion board inserted into a computer or written in a memory provided in an expansion unit connected to a computer; then, based on the instructions of the program code, the CPU or the like mounted on the expansion board or the expansion unit performs part or all of the actual operations, thereby realizing the functions of any of the above-mentioned embodiments .
It should be noted that not all steps and modules in the foregoing processes and apparatus structure diagrams are necessary, and some steps or modules may be omitted according to actual needs. The order of execution of each step is not fixed and can be adjusted as needed. The apparatus structure described in the foregoing embodiments may be a physical structure or a logical structure. In other words, some modules may be implemented by the same physical entity, or certain modules may be implemented by multiple physical entities, or may be implemented jointly by certain components in multiple standalone apparatuses.
In the above embodiments, a hardware unit can be implemented mechanically or electrically. For example, a hardware unit can comprise a permanently dedicated circuit or logic, such as a dedicated processor, FPGA or ASIC, to perform the corresponding operations. A hardware unit may further comprise a programmable logic or circuit, such as a general-purpose processor or any other programmable processor, and can be temporarily set by software to perform the corresponding operations. A specific implementation (a mechanical, or dedicated permanent circuit, or temporarily set circuit) can be determined on the basis of cost and time considerations.
While the present invention has been particularly described with reference to the accompanying drawings and preferred embodiments, the present invention is not limited to these disclosed embodiments, and those of ordinary skill in the art may know that the various embodiments described above may be combined to obtain further embodiments of the present invention, which are also within the scope of the present invention .
Claims
Claims
1. A first security tracking system of a mechanical arm, characterized in that the first security tracking system (1) comprises :
a detection module (20), wherein at least one detection module (20) is mounted on each sub-arm (11) of the mechanical arm (10), and each detection module (20) is configured to obtain, during a movement process of the mechanical arm (10), a rotation angle of the detection module (20) relative to a geometrical center of the detection module (20), and send the rotation angle to a first controller (30); and
the first controller (30) is configured to:
receive the rotation angle from each detection module
(20) ;
for each sub-arm (11), determine a rotation angle of a rotation shaft of the sub-arm (11) according to a spatial location relationship between each detection module (20) mounted on the sub-arm (11) and the sub-arm (11) and the received rotation angle from each detection module (20) mounted on the sub-arm (11); and
determine a location and a posture of an end of the mechanical arm (10) according to the determined rotation angle of the rotation shaft of each sub-arm (11) .
2. The first security tracking system as claimed in claim 1, characterized in that when determining the location and the posture of the end of the mechanical arm (10) according to the determined rotation angle of the rotation shaft of each sub-arm (11), the first controller (30) is specifically configured to: determine the location and the posture of the end of the mechanical arm (10) based on a first model of the mechanical arm (10), wherein the first model is different from a second model of the mechanical arm (10) based on which a second security tracking system (2) of the mechanical arm (10)
determines the location and the posture of the end of the mechanical arm (10).
3. The first security tracking system as claimed in claim 1 or 2, characterized in that the first controller (30) is further configured to:
send a warning signal and/or a halt instruction when the location and the posture of the end of the mechanical arm (10) reach a preset warning location and posture.
4. A detection module, characterized in that the detection module (20) is mounted on a sub-arm (11) of a mechanical arm (10), and the detection module (20) comprises:
a rotation angle obtaining unit (21), configured to obtain, during a movement process of the mechanical arm (10), a rotation angle of the detection module (20) relative to a geometrical center of the detection module (20); and
a communications unit (22), configured to send the rotation angle obtained by the rotation angle obtaining unit to a controller, so that the controller determines a location and a posture of an end of the mechanical arm (10) according to the rotation angle.
5. A controller in a first security tracking system of a mechanical arm, characterized in that the controller comprises: a receiving unit (31), configured to receive a rotation angle from a detection module (20), wherein at least one detection module (20) is mounted on each sub-arm (11) of the mechanical arm (10), and the rotation angle from the detection module (20) is a rotation angle of the detection module (20) relative to a geometrical center of the detection module (20); and
a processing unit (32), configured to:
for each sub-arm (11), determine a rotation angle of a rotation shaft of the sub-arm (11) according to a spatial
location relationship between each detection module (20) mounted on the sub-arm (11) and the sub-arm (11) and the received rotation angle from each detection module (20) mounted on the sub-arm (11); and
determine a location and a posture of an end of the mechanical arm (10) according to the determined rotation angle of the rotation shaft of each sub-arm (11) .
6. The controller as claimed in claim 5, characterized in that the processing unit (32) is specifically configured to determine the location and the posture of the end of the mechanical arm (10) based on a first model of the mechanical arm (10), wherein the first model is different from a model of the mechanical arm (10) based on which a second security tracking system (2) of the mechanical arm (10) determines the location and the posture of the end of the mechanical arm (10) .
7. The controller as claimed in claim 5 or 6, characterized in that the controller further comprises:
a warning unit (33) , configured to send a warning signal and/or a halt instruction when the processing unit (32) determines that the location and the posture of the end of the mechanical arm (10) reach a preset warning location and posture .
8. An information sending method, characterized in that the method comprises:
measuring, by a detection module (20) mounted on a sub-arm (11) of the mechanical arm (10), during a movement process of the mechanical arm (10), a rotation angle of the detection module (20) relative to a geometrical center of the detection module (20); and
sending, by the detection module (20), the rotation angle to a controller, wherein the rotation angle is used for
determining a location and a posture of an end of the mechanical arm (10) .
9. A security tracking method for a mechanical arm, characterized in that the method comprises:
receiving, by a first controller (30), a rotation angle from each detection module (20), wherein at least one detection module (20) is mounted on each sub-arm (11) of the mechanical arm (10), wherein the rotation angle from the detection module (20) is a rotation angle of the detection module (20) that is relative to a geometrical center of the detection module (20) and that is obtained by the detection module (20) during a movement process of the mechanical arm (10);
for each sub-arm (11), determining, by the first controller (30), a rotation angle of a rotation shaft of the sub-arm (11) according to a spatial location relationship between each detection module (20) mounted on the sub-arm (11) and the sub- arm (11) and the received rotation angle from each detection module (20) mounted on the sub-arm (11); and
determining, by the first controller (30), a location and a posture of an end of the mechanical arm (10) according to the determined rotation angle of the rotation shaft of each sub-arm (11) .
10. The security tracking method as claimed in claim 15, characterized in that the determining, by the first controller (30), of a location and a posture of an end of the mechanical arm (10) according to the determined rotation angle of the rotation shaft of each sub-arm (11) comprises:
determining, by the first controller (30), the location and the posture of the end of the mechanical arm (10) based on a first model of the mechanical arm (10), wherein the first model is different from a second model of the mechanical arm (10) based on which a second security tracking system of the mechanical arm (10) determines the location and the posture of the end of the mechanical arm (10) .
11. The security tracking method as claimed in claim 9 or 10, characterized in that the method further comprises:
sending, by the first controller (30), a warning signal and/or a halt instruction when determining that the location and the posture of the end of the mechanical arm (10) reach a preset warning location and posture.
12. A computer-readable storage medium, storing a machine- readable program, characterized in that when being executed by a processor, the machine-readable program performs the method as claimed in any one of claims 8 to 11.
13. An apparatus for performing security tracking on a mechanical arm, characterized in that the apparatus comprises: at least one memory, configured to store a machine-readable program; and
at least one processor, configured to invoke the machine- readable program stored in the at least one memory, to perform the method as claimed in any one of claims 8 to 11.
14. A security system of a mechanical arm, characterized in that the security system (3) comprises:
a second security tracking system (2), wherein the second security tracking system (2) comprises:
at least one encoder (40), wherein the encoder (40) is mounted on each rotation shaft of the mechanical arm (10), to obtain a rotation angle corresponding to the rotation shaft and send the rotation angle to a second controller (50) of the mechanical arm (10); and
the second controller (50) is configured to: receive each rotation angle from the at least one encoder (40), and determine a location and a posture of an end of the mechanical arm (10) according to each received rotation angle of the encoder (40); and
the first security tracking system (1) as claimed in any one of claims 1 to 5.
15. The security system as claimed in claim 14, characterized in that it further comprises:
a third controller (60), configured to perform a warning and/or a halt according to the locations and the postures of the end of the mechanical arm (10) that are respectively determined by the first security tracking system (1) and the second security tracking system (2).
16. The security system as claimed in claim 14, characterized in that,
the first security tracking system (1) is further configured to send a warning signal and/or a halt instruction to the second controller (50) when determining that the location and the posture of the end of the mechanical arm (10) reach a preset warning location and posture; and
the second controller (50) is further configured to perform a warning and/or a halt according to the warning signal and/or the halt instruction from the first security tracking system (1) .
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710940406.1 | 2017-09-30 | ||
| CN201710940406.1A CN109591050A (en) | 2017-09-30 | 2017-09-30 | Security tracking systems, device, method, storage medium and security system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2019063228A1 true WO2019063228A1 (en) | 2019-04-04 |
Family
ID=63491593
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/EP2018/073170 Ceased WO2019063228A1 (en) | 2017-09-30 | 2018-08-29 | Security tracking system, apparatus, method, storage medium and security system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109591050A (en) |
| WO (1) | WO2019063228A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110053048A (en) * | 2019-04-22 | 2019-07-26 | 青岛科技大学 | Long-range control method |
| CN110436182A (en) * | 2019-08-07 | 2019-11-12 | 珠海格力智能装备有限公司 | Method and device for controlling blanking of blanking equipment, storage medium and processor |
| CN114770603A (en) * | 2022-05-17 | 2022-07-22 | 上海交通大学 | A super-redundant robotic arm test system |
| CN114800462A (en) * | 2022-02-24 | 2022-07-29 | 浙江大丰实业股份有限公司 | Stage arm motion position detection device |
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| WO2021249379A1 (en) * | 2020-06-10 | 2021-12-16 | 苏州艾利特机器人有限公司 | Industrial robot having improved safety control performance, and control method therefor |
| TWI874700B (en) * | 2021-08-19 | 2025-03-01 | 達明機器人股份有限公司 | Position detection system |
| CN115908553A (en) * | 2022-12-01 | 2023-04-04 | 北京柏惠维康科技股份有限公司 | Robotic arm positioning method, device, electronic device and storage medium |
| CN115990882B (en) * | 2023-01-17 | 2025-10-31 | 上海捷勃特机器人有限公司 | Safety control method and system for robot |
| CN116135497B (en) * | 2023-04-04 | 2023-11-03 | 长三角一体化示范区(江苏)中连智能教育科技有限公司 | Fault early warning system for industrial robot practical training platform |
| CN120269585B (en) * | 2025-06-11 | 2025-08-22 | 上海果纳半导体技术有限公司 | Control method of carrying manipulator |
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| US20110257785A1 (en) * | 2010-04-20 | 2011-10-20 | Fanuc Corporation | Robot system |
| US20130245825A1 (en) * | 2010-09-28 | 2013-09-19 | C.N.R. Consiglio Nazionale Ricerche | Safety device for the safe use of industrial apparatuses and robots, and control method for realtime verification of the kinematic state values of a robotized apparatus |
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| CN110053048A (en) * | 2019-04-22 | 2019-07-26 | 青岛科技大学 | Long-range control method |
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| CN109591050A (en) | 2019-04-09 |
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