1
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`IROBOT 2009
`Shenzhen Zhiyi Technology v. iRobot
`IPR2017-02061
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`

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`1
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`0145683
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`INDUSTRIAL ROBOT
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`The invention relates to an industrial robot of the
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`kind disclosed in the preamble to the accompanying Claim 1.
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`Such robots are previously known and widely spread in
`various fields of industry. Programming normally takes
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`place in that the robot is caused by an operator, while
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`guiding it moment by moment,
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`to perform a specific series
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`In certain cases the operator thereby grips
`of operation.
`around the robot's arm to make it execute a desired pattern
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`of movement, although it has been found more beneficial for
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`10
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`this purpose to use a programming device provided with a
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`joystick.
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`A joystick is a suitable instrument for two-
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`dimensional generation of analog signals. A third dimension
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`can be added by turning the control knob, producing in this
`way a signal which is then independent of the two "x-y
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`signals". More than three dimensions however cannot be
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`controlled with the aid of a joystick. Taking into consi-
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`deration the three longitudinal dimensions of a room, plus
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`20
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`the additional turns, a robot must be controllable in a
`plurality of other dimensions, and for this reason the
`significance of the joystick movements must be variable by
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`adjustment. The programming device of prior art industrial
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`robots has therefore been provided with a push-button set
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`for adjustment of the control mechanism.
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`25
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`Although the function of such a known system is
`otherwise satisfactory,
`there is the disadvantage that the
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`operator must be very well trained on the equipment in
`order to readily and quickly perform a programming opera-
`tion. It would be desirable therefore to have a system
`affording extended possibilities of cooperation between the
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`system and the operator. It would furthermore be desirable
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`to let the operator concentrate all his visual attention to
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`the robot itself,
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`increasing thereby the operational speed
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`as well as improving the pattern of movement for the robot.
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`These and other objects and advantages to be de~-
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`2
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`0145683
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`scribed in the following can be achieved according to the
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`invention by equipping an industrial robot of the kind
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`mentioned by way of introduction in the way disclosed in
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`the characterizing clause of Claim 1.
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`Speech analysis and speech synthesis devices are
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`previously known and commercially available. A particular
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`difficulty in this known equipment is associated with the
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`fact that a powerful computer support is generally required
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`for the recognition of human speech. Therefore,
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`to create
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`the fundamental condition for a final solution of the
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`practical problems,
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`the device should not have to recognize
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`too many different commands.
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`In practice at present,
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`the
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`use of a speech analyzer of the kind available on the
`market at a reasonable cost is in fact based on the condi-
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`15
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`tion that the operator himself has initially dictated each
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`single command into the device for enabling it later to
`identify said command upon repetition. It is then also
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`understood that the number of commands to be searched for
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`identification, when reading in a command, must not be too
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`20
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`great.
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`As a purely practical measure for settling the
`inventive problem,
`the number of possible commands in each
`instant must be restricted, and in many cases less than the
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`total number of commands used for the programming sequence.
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`25
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`According to the invention, this is achieved by means of a
`branched programming system. At start there is made a
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`choice for example between a restricted number of basic
`conditions each of which being associated with a likewise
`restricted number of functions, etc. obtaining in this way
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`30
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`a system of tree~shaped configuration.
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`The speech synthesizer is preferably permitted to
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`read aloud a list of all the commands available to the
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`operator when making his choice, while also emitting a
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`receipt signal by repeating a given command. Alternatively,
`a display unit can be arranged indicating the last-given
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`command. Furthermore, it should suitably be possible for
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`the operator to make the speech synthesizer repeat its
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`0145683
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`last-spoken phrase.
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`The invention will now be described on the basis of
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`a non-Limiting exemplary embodiment illustrated in the
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`drawings. Fig.
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`1 shows an example of a robot's arm provided
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`with gripping means. Fig.
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`2 shows schematically a block
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`diagram for the invention. Fig.
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`3 shows an example of an
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`operational sequence with an associated program. Fig.
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`4
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`shows an example of a branch program, and Fig.
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`5 shows the
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`various alternatives in a basic condition of the program.
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`A robot arm of the immediately considered type is
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`shown in Fig. 1. The arrows indicate various alternatives
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`of movement, giving rise to six generally independent
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`degrees of freedom. For each rotational axis there is
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`accommodated a motor and a sensor,
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`these parts together
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`being connected to a control unit
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`(computer) for enabling
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`a programmed movement of all motors. It is clearly seen
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`that all movements are basically rotary, but it is known
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`that combined rectilinear movements can be obtained by
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`programming. When controlling the movements with the use of
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`20
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`a joystick, either direct control of two or three rotational
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`axes can be selected for an "economic" displacement of the
`tool center point, or indirect control in rectangular
`Cartesian coordinates can be selected demanding however a
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`heavier computer support for its performance and resulting
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`25
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`sometimes in a certain delay. This selection of coordinate
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`system is normally included in the alternatives according
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`to the invention.
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`The essential feature of the invention is illustra-
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`ted in Fig. 2. A robotic control system 1
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`is connected to
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`the various arrangements of movement in a robot according
`to Fig. 1, each "degree of freedom" being individually con-
`trolled and monitored under the guidance and coordination
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`In automatic operation this is
`of the control system 1.
`conventionally done by using computer programs capable of
`receiving sensory signals as well, responding for example
`to touch or the like. This is all prior art technique how-
`ever and will therefore not be further discussed.
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`0145683
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`The invention instead relates to control] and pro-
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`gramming of the system. Fig. 2 illustrates a joystick 2
`which can be used for programming patterns of movement. To
`some extent,
`the use of joysticks is also part of known
`technique insofar as such instruments have been previously
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`used.
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`The novel feature however resides in that programming
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`occurs,
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`in accordance with the invention, while utilizing a
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`microphone 3 connected to a speech analyzer 4, and in that
`the control system 1 can transmit spoken messages with the
`aid of a speech synthesizer 6 and a loudspeaker 5. Normally,
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`the operator carries a pair of earphones to which is con-
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`nected a microphone disposed close to his mouth.
`The speech analyzer 4 and the speech synthesizer 6
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`are both devices available on the market. For a construc-
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`tional embodiment there are thus used a speech analyzer
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`INFOVOX RA~101 and a speech synthesizer INFOVOX SA-101, both
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`manufactured by Infovox AB, Svenska Utvecklingsbolaget AB,
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`Stockholm. According to the manufacturer,
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`the speech
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`analyzer may recognize words and phrases having a maximum
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`the unit emits
`duration of 2.5 seconds. Upon recognition,
`to the control system 1, via a v24 standard output, an
`electric code associated with the recognized phrase. The
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`synthesizing device 6 functions as follows. When the control
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`system transmits a text string in the form of coded common
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`characters, this code is synthesized via said device into
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`speech while applying the pronunciation rules appropriate
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`for e.g. Swedish, English or any other language.
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`As already mentioned,
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`the analysis equipment is
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`utilized quite specifically for safeguarding optimum secur-
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`ity. There is thus arranged for the analyzer 4 to expect at
`each instance only a limited number of commands, and a
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`command dictated into the microphone will be compared with
`just a few patterns stored in the memory. Since "identity"
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`is determined by correlation between patterns,
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`the correla-
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`tion coefficient for accepted identification can therefore
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`in practice be set to a lower value, resulting as well in
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`5
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`0145683
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`a quicker recognition.
`Reading into the analyzer 4 is performed by the
`operator pronouncing each phrase five times for example,
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`registering thereby an average for the pattern which will
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`serve as a basis for the comparisons.
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`In order to give a simple picture of the programming,
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`an example will now be shown with reference to Fig. 3. The
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`task is here to displace the tool center point of the arm
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`from one point A to another point B,
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`leaving it at B for
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`10
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`4.5 seconds and then allowing it to return. The program is
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`In practice, a
`conventionally indicated in the figure.
`programming sequence is performed as follows. The operator
`talks into the microphone 3 according to Fig. 2, saying the
`word "POSITION", If desired,
`the synthesizer can then be
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`15
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`made to repeat the said command. As will be seen in the
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`following,
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`this command signifies that the monitoring
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`program in the control unit 1 is set to one of numerous
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`basic conditions, and that a small number of commands is
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`the operator can make the
`now available. If he is unsure,
`Speech synthesizer 6 read these commands by saying "SCAN".
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`20
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`Let us suppose however that he knows what he wants in this
`case, and that he gives the command "SPEED". The speech
`analyzer will now expect digits, The operator dictates
`“TwO",
`"ZERO", and "READ IN". In this way the speed of the
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`arm has been set to reach 20% of the maximum rate.
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`(It is
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`presupposed here that the actual coordinate system has been
`selected for the joystick 2,
`to keep it prepared). The
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`robot's arm can now be moved by the operator gripping the
`joystick 2 situated on a small box, not shown, which can be
`held in his hand.
`In this way the robot's tool center point
`is displaced from A to B. Thereafter the operator commands
`"POSITION" and returns to the primary basic condition, i.e.
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`the commands "SPEED", “EIGHT",
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`"ZERO", and "READ IN". The
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`robot's arm is now programmed for waiting. This is done
`first by commanding "FUNCTION" which relates to a basic
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`condition, and then "WAIT" which is included among the
`permitted functions, i.e.
`"TIME" and "FOUR",
`"COMMA",
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`"FIVE"
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`6
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`0145683
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`and "READ IN". A waiting time of 4.5 seconds has then been
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`read into the programming sequence. Now is the moment for
`return to the starting point A. The commands "FUNCTION" and
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`"RETURN" are now read in, and the small programming sequence
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`is finally recorded. This program is of course extremely
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`simplified but well suited to explain the function of the
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`invention while also demonstrating its advantages.
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`The program in the robotic system 1
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`thus has a level~
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`like structure of which the uppermost levels may be called
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`the basic conditions, wherein a branched selection is made
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`for each individual condition, Fig. 4 illustrates the fun-
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`damental principle thereof. Of the commands used above,
`"POSITION" and "FUNCTION" will be found among the branches
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`C1, C2 ... Ci ... Cm in Fig. 4. Suppose for example that
`"POSITION" is represented by Ci. In this basic condition
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`there is then a choice between several subordinate condi-
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`tions TPi,
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`IS1 ... ISj which generally permit additional
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`subsidiary conditions, etc, Fig..5 shows for example the
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`various branches possible in the basic condition "POSITION".
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`If "SPEED" is selected,
`then the control unit will expect
`to receive digits followed by the end command "READ IN".
`A detailed example of branched-out routines of the
`kind utilized in the invention is given in our Swedish
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`15
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`20
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`patent application 8203974-4 the teaching of which is here~
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`by declared to be incorporated by reference in the present
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`description,
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`It is possible to utilize character windows and the
`like together with the invention for elucidating the
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`various programming steps, whereby a character window or an
`alphanumeric table can be arranged on a control box, or on
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`30
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`the box carried by the operator and in which is mounted the
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`ee
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`joystick 2 shown in Fig. 2.
`~™ With the inventive combination of a program struc-
`tured into tree-shape, which provides recognition of
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`commands via a speech analyzer adapted thereto, and a
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`speech synthesizer equipment, an extremely practical inter-
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`active programming will be achieved. The very concreteness
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`7
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`0145683
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`of the system makes it available for use by operators
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`lacking all essential programming experience, and the
`system can be taught in practice in only a few hours’ time
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`to an operator, whose skill will then be quite sufficient
`for normal industrial operation.
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`8
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`CLAIMS
`
`0145683
`
`' 1.
`
`Industrial robot, movable in several degrees of
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`freedom (Fig. 1) and coacting with a programmable control
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`(1) with associated programming means which
`computer
`include a joystick (2)
`intended during programming to make
`
`the robot perform arbitrary movements and programming said
`
`movements into the control computer for creating an opera~
`
`tional program therein, characterized by the combination of
`
`incorporated in the control equipment and
`a microphone (3)
`having a speech analyzer (4) connected to it for reading in
`of oral commands to be subsequently recognized for sending
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`preset control signals associated with each such command,
`(5)
`and a speech synthesizer (6) connected to a sound sensor
`for sending spoken messages to an operator, a command memory
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`(1) having a branched structure
`in the control computer
`(Fig. 4) so that a primary command (Cl-Cm), of which there
`is a limited number, is arranged to select a sub-group (TPi,
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`IS1 ... ISj) having a limited number of commands,
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`the speech
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`(4) being adapted to recognize at each instant only
`analyzer
`the commands permitted in consideration to a set branch
`point.
`,
`Industrial robot as claimed in Claim 1, charac-
`
`2.
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`is adaptable for
`terized in that its speech synthesizer (6)
`repeating each command read into the microphone (3) and
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`recognized in the speech analyzer
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`(4).
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`0145683
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`4thie)
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`3rd (A)
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`
`
`ROBOT
`
`POSITIONING
`CONTROL
`SYSTEM
`
`
`MANUAL
`
`COMMAND
`
`STRING
`
`
`
`
`
`3m1CROPHONE
`FOR VOICE
`COMMAND
`
`SPEECH
`
`10
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`

`

`CT
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`sae te
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`ye ss
`Ci
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`2/3
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`01456424
`
`TPi
`
`IS2
`
`ID!
`On
`012
`——
`
`ial
`
`POR 11
`POR 12
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`PORG!
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`Cm
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`FIG.4
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`0145683
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`A
`een}
`10
`20, 30,40
`
`BC
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`PROGRAM:
`
`10 Pos v 20%
`20 pos v 80%
`30 waAIT 4,5 s
`40 RETURN
`
`FIG.3
`
`el
`|
`pos
`i
`!
`||
`
`iI
`
`|
`
`ee —— 4 — —_—,
`1 SPEED !
`SAME
`FINE
`ISEARCH |
`SCAN
`|
`beeen ee5 ——— = Lt
`
`|
`
`;
`(PENDUL.,
`
`tree.
`
`|
`
`| POINT |— i —_
`soeoe
`Gel fel fal
`fac
`!
`!
`F10
`!
`ioF114
`!
`F12
`!
`scan
`FIGS
`L____
`
`og?
`
`|
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`12
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`

`

`9) often atent
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`Patent
`
`EUROPEANSEARCHREPORT
`
`0145683
`.
`ic
`
`DOCUMENTS CONSIDERED TO BE RELEVANT
`
`
`EP 84850281.1
`
`
`
`
`
`B25 J
`
`9/18
`
`EP - Bi - 0 023 864 (ASSOCIATION
`DES OUVRIERS EN INSTRUMENTS DE
`PRECISION)
`
`.
`
`lines 1-5;
`* Fig. 1; column 7,
`column 7,
`line 45 *
`
`EP - Al - 0 056 507 (BLOOMSTEIN)
`
`Applicationnumber
`
`
`
`
`
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`
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`* Fig. 1-4; page 7,
`2g |
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`lines 20-
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`US - A - 3 742 143 (AWIPI)
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`* Abstract; fig. 1,2 *
`
`TECHNICAL FIELDS
`SEARCHED(Int, Cl.4)
`
`
`
`
`Place of search
`
`Date of completion of the search
`
`
`
`12-03-1985
`VIENNA
`
`T : theory orprinciple underlying the invention
`CATEGORYOF CITED DOCUMENTS
`g
`E : earlier patent document, but published on, or
`g
`
`
`after the filing date
`‘| %: particularly relevant if taken alone
`D: decument cited in the application -
`81 Y: particularly relevant if combined with another
`L : document cited for other reasons
`.
`document of the same category
`
`
`eveste acstl ove anue en
`E| A: technological background
`& : member of the same patent family, corresponding
`“1 O: non-written disclosure
`
`
`document
`&|_P: intermediate document
`
`
`13
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`13
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