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WO2018136582A1 - Machine robotique à système de rideau de lumière - Google Patents

Machine robotique à système de rideau de lumière Download PDF

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Publication number
WO2018136582A1
WO2018136582A1 PCT/US2018/014138 US2018014138W WO2018136582A1 WO 2018136582 A1 WO2018136582 A1 WO 2018136582A1 US 2018014138 W US2018014138 W US 2018014138W WO 2018136582 A1 WO2018136582 A1 WO 2018136582A1
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WO
WIPO (PCT)
Prior art keywords
light
light curtain
detection device
side border
emission device
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.)
Ceased
Application number
PCT/US2018/014138
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English (en)
Inventor
Matthew S. DAVIS
Jared L. WEST
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.)
Beckman Coulter Inc
Original Assignee
Beckman Coulter Inc
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
Application filed by Beckman Coulter Inc filed Critical Beckman Coulter Inc
Publication of WO2018136582A1 publication Critical patent/WO2018136582A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/144—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using light grids
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/08—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body in connection with the locking of doors, covers, guards, or like members giving access to moving machine parts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V8/00—Prospecting or detecting by optical means
    • G01V8/10—Detecting, e.g. by using light barriers
    • G01V8/20—Detecting, e.g. by using light barriers using multiple transmitters or receivers

Definitions

  • Robotic machines may incorporate one or more moving components that move in an automated fashion relative to one or more fixed components.
  • it may be desirable to reduce any risks associated with a human coming into contact with the one or more moving components during movement of the one or more moving components.
  • a moving component may move within a close enough proximity to fixed component such that it may be undesirable for a human operator to position a hand or other body part between the moving component and the fixed component. It may therefore be desirable to provide a sensing system that senses the positioning of a human body part or other object within a certain field of space associated with a robotic machine.
  • FIG. 1 depicts a perspective view of an exemplary robotic machine, with a door in a closed position
  • FIG. 2 depicts a perspective view of the robotic machine of FIG. 1, with the door in an open position;
  • FIG. 3 depicts a front elevational view of the robotic machine of FIG. 1, with the door in an open position;
  • FIG. 4 depicts an enlarged perspective view of the region of the robotic machine of
  • FIG. 1 indicated by the "FIG. 4" broken line circle in FIG. 2;
  • FIG. 5 depicts a perspective view of components of a light curtain system of the robotic machine of FIG. 1;
  • FIG. 6 depicts a top plan view of the components of the light curtain system of FIG.
  • FIG. 7 depicts an enlarged perspective view of the region of the robotic machine of
  • FIG. 1 indicated by the "FIG. 7" broken line circle in FIG. 2;
  • FIG. 8 depicts a perspective view of the door of the robotic machine of FIG. 1;
  • FIG. 9 depicts a cross-sectional view of the door of FIG. 8, taken along line 9-9 of
  • FIG. 8 The first figure.
  • FIG. 10 depicts a schematic view of a controller and associated components of the robotic machine of FIG. 1.
  • FIGS. 1-3 depicts an exemplary robotic system (10).
  • robotic system (10) is configured to handle various kinds of liquid in numerous ways and in a rapid and precise fashion in order to facilitate laboratory procedures.
  • robotic system (10) may provide at least some of the functionality associated with a conventional Biomek® Lab Automation Workstation by Beckman Coulter, with the additional features and functionality described below.
  • teachings herein may be readily applied to various kinds of robotic systems, such that the invention is not limited to systems that are configured to provide automated handling of liquid in a laboratory environment.
  • Robotic system (10) of the present example comprises a lower enclosure (20), an upper enclosure (40), and a door (50).
  • Upper enclosure (40) is supported atop lower enclosure (20).
  • upper enclosure (40) includes a set of light strips (42) that are configured to illuminate in different colors to thereby provide visual feedback to a user regarding the operational state of robotic system (10).
  • light strips (42) may illuminate in a first color to indicate that robotic system (10) is currently executing a liquid handling process; in a second color to indicate that the liquid handling process is complete; and in a third color to indicate a warning condition.
  • light strips (42) may flash in one or more patterns to provide visual feedback indicating one or more conditions or operational states of robotic system (10).
  • upper enclosure (40) light strips (42) are omitted. It should therefore be understood that light strips (42) are merely optional.
  • upper enclosure (40) is merely optional. In versions of robotic system (10) where upper enclosure (40) is omitted, the top region of lower enclosure (20) may simply be open to the environment.
  • Lower enclosure (20) includes a plurality of columns (22, 24, 26) and panels (30,
  • lower enclosure (20) includes a pair of front columns (22, 24) and a pair of rear columns (26) (though the view of one of the rear columns (26) is obscured in FIGS. 1-3).
  • a first side panel (30) spans between a first front column (22) and one of rear columns (26); while a second side panel (32) spans between a second front column (24) and another of rear columns (26).
  • Side panels (30, 32) are transparent in the present example, though this is merely optional.
  • a rear panel (36) spans between both rear columns (26). While only one rear panel (36) is indicated in FIG. 3, it should be understood that more than one rear panel may be provided at the rear of lower enclosure (20). It should also be understood that more than one panel may be provided on each side of lower enclosure (20).
  • one or more of panels (30, 32, 36) may simply be omitted in some versions of lower enclosure (20).
  • Door (50) of the present example comprises a frame (52) and a front panel (54).
  • Front panel (54) is transparent in the present example, though this is merely optional.
  • Door (50) is configured to travel vertically relative to lower enclosure (20) between a closed position (FIG. 1) and an open position (FIGS. 2-3).
  • a closed position FIG. 1
  • an open position FIGS. 2-3
  • Various suitable features that may be used to provide such mobility for door (50) will be apparent to those of ordinary skill in the art in view of the teachings herein.
  • door (50) may include a counterbalance system or other system to assist in raising and lowering of door (50), a locking system to assist in securing the vertical position of door (50), and/or a sensing system to provide sensing of the vertical position of door (50).
  • a counterbalance system is used to assist in raising and lowering of door (50); and to assist in maintaining the vertical position of door (50) when an operator releases door (50) at a selected location along the range of vertical travel of door (50).
  • Various suitable forms that such door counterbalance systems, door locking systems, and door sensing systems may take will be apparent to those of ordinary skill in the art in view of the teachings herein. Of course, these systems are merely optional. Likewise, door (50) is merely optional and may be completely omitted in some versions.
  • Lower enclosure (20) defines an interior (60) that includes various components of robotic system (10), such that these components of robotic system (10) are at least partially contained within lower enclosure (20).
  • These interior (60) components include a first moving assembly (70), a second moving assembly (72), and a set of labware positioners (74).
  • each labware positioner (74) may be used to support labware, such as tip boxes/racks, microplates, reservoirs, etc.
  • Various suitable kids of equipment that may be supported on each labware positioner (74) will be apparent to those of ordinary skill in the art in view of the teachings herein. It should also be understood that any suitable number of labware positioners (74) may be positioned in interior (60) in any suitable arrangement.
  • each moving assembly (70, 72) is configured to move within interior (60) based on commands from a controller (100) as described in greater detail below.
  • each moving assembly (70, 72) is configured to move in at least the x-direction and the z-direction, as indicated by the x-axis and z-axis shown in FIG. 1.
  • a portion of each moving assembly (70, 72) is further configured to move in the y-direction, as also indicated by the y-axis shown in FIG. 1.
  • each moving assembly (70, 72) may be configured to removably receive a selected interchangeable head that is operable to perform one or more liquid handling operations (e.g., transferring liquid via pipettes, etc.) within interior (60).
  • each moving assembly (70, 72) may include one or more gripping features that are operable to selectively grasp and release one or more other components.
  • Various other suitable features and functionalities that may be incorporated into each moving assembly (70, 72) will be apparent to those of ordinary skill in the art in view of the teachings herein. It should also be understood that some variations may include just one moving assembly (70 or 72) or more than two moving assemblies (70, 72).
  • some robotic machines may include a light curtain sensing system like the light curtain sensing system disclosed in U.S. Pat. No. 6,166,371, the disclosure of which is incorporated by reference herein. If robotic system (10) were to include such a light curtain sensing system, such a light curtain sensing system would be embedded within a threshold (34) of lower enclosure (20), which spans between front columns (22, 24). It should be understood that a vertical plane extending above threshold (34) provides an entry space for interior (60). As described in U.S. Pat. No. 6,166,371, such a light curtain sensing system may include an alternating linear array of light sources and light sensors. The light sources are configured to project light upwardly to create a light curtain; while the light sensors are configured to detect light reflected back by objects (e.g., a human finger, etc.) that enter the light curtain.
  • objects e.g., a human finger, etc.
  • the configuration of robotic system (10) of the present example may provide certain regions that present blind spots for a light curtain sensing system like the system described in U.S. Pat. No. 6,166,371.
  • blind spots may exist in regions near the upper ends of front columns (22, 24), particularly those regions under the underside of door (50) when door (50) is in the open position.
  • the upper portions of front columns (22, 24) may create these blind spots by restricting the reflection of light by objects (e.g., human fingers) that are passed through the region of the light curtain adjacent to the upper portions of front columns (22, 24).
  • robotic system (10) of the present example includes an enhanced light curtain sensing system that eliminates the blind spots that would be otherwise created due to the presence of columns (22, 24). This light curtain sensing system is described in greater detail below with reference to FIGS. 4-10.
  • a light curtain assembly (80) is positioned along threshold
  • light curtain assembly (80) extends along the full length of threshold (34), such that light curtain assembly (80) spans from front column (22) to front column (24).
  • FIGS. 5-6 show light curtain assembly (80) in greater detail.
  • light curtain assembly (80) comprises a housing (82), a collimator strip (84), an array of light sources (90), and a plurality of light sensors (92).
  • a lens (not shown) is positioned over light curtain assembly (80). Such a lens may also extend along the full length of threshold (34), such that the lens spans from front column (22) to front column (24).
  • each light source (90), each light sensor (92), or each light source (90) and light sensor (92) pair may have its own dedicated lens.
  • the lens comprises a flat piece transparent glass or plastic.
  • the lens is configured to provide a filter of light transmitted to and from light curtain assembly (80).
  • the lens may be configured to only allow infrared light to pass through the lens.
  • the lens may comprise a red tinted strip of acrylic that is infrared transmissive.
  • Collimator strip (84) is configured and positioned as a cap over housing (82), light sources (90), and light sensors (92).
  • Collimator strip (84) of the present example comprises a plurality of light source apertures (86) and a plurality of light sensor apertures (88). Each light source aperture (86) is positioned over an associated light source (90); while each light sensor aperture (88) is positioned over an associated light sensor (92). As best seen in FIG. 6, each light source aperture (86) has a circular shape; while each light sensor aperture (88) has a rectangular shape that extends along a path that is parallel to the length of collimator strip (84).
  • each light sensor aperture (88) may have a length that is less than or equal to approximately 0.30 inches, while the transversely extending edge of each aperture (88) may have a length that is less than or equal to approximately 0.07 inches or 0.05 inches.
  • any other suitable dimensions or dimensional relationships may be used.
  • apertures (86) are shaped differently (e.g., with a square shape) and/or apertures (88) are shaped differently (e.g., with an elliptical shape).
  • apertures (86) and apertures (88) of the present example may be configured to provide collimation for light emitted from light curtain assembly (80) and light received through light curtain assembly (80), respectively.
  • apertures (88) may limit the field of view of light sensors (92) to the vertical plane above threshold (34) and light curtain assembly (80).
  • the collimation effect provided by light sensor apertures (88) may thereby reduce the likelihood that light sensors (92) receive light reflected from objects that are outside the plane extending vertically above threshold (34) light curtain assembly (80).
  • collimation effect provided by light sensor apertures (88) may reduce "false positives," i.e., the occurrence of detections of objects outside the vertical plane over threshold (34).
  • light sources (90) are emitted upwardly, toward the underside of door (50).
  • Light sources (90) thus generate the curtain of light along the vertical plane extending vertically above light curtain assembly (80).
  • light sources (90) comprise LEDs that are configured to emit infrared light.
  • light sensors (92) are configured to detect infrared light in the present example.
  • light sources (90) are configured to emit light at other frequencies; and light sensors (92) are configured to detect light at other frequencies.
  • Various suitable kinds of components that may be used to provide light sources (90) and light sensors (92) will be apparent to those of ordinary skill in the art in view of the teachings herein.
  • front column (22) includes a vertically extending array of light sources (94). While the following discussion relates only to light sources (94) on front column (22), it should be understood that front column (24) may include a complementary set of light sources that are configured and operable just like light sources (94) described below.
  • the array of light sources (94) is only positioned near the upper end of front column (22), such that light sources (94) are not positioned along the lower portion of front column (22). In some other versions, light sources (94) are also positioned along the lower portion of front column (22). Light sources (94) are configured to emit light toward the vertical plane extending above threshold (34). Thus, light sources (94) emit light along the same plane along which light sources (90) emit light. Nevertheless, light sources (94) emit light along a path that is orthogonal to the path along which light sources (90) emit light. In the present example, light sources (94) comprise LEDs that are configured to emit infrared light. In some versions, a collimator strip is positioned over light sources (94). Such a collimator strip may include apertures that are similar to apertures (86); or any other suitable kinds of openings.
  • no light sensors are positioned along front column (22) adjacent to light sources (94).
  • light sensors are positioned along front column (22) adjacent to light sources (94).
  • Such light sensors may form an alternating array with light sources (94), similar to the alternating array formed by light sources (90) and light sensors (92). It should be understood that, even in the present example where no light sensors are positioned along front column (22) adjacent to light sources (94), the light emitted by light sources (94) may be reflected toward light sensors (92) when an object (e.g., an operator's finger) passes through the light curtain extending along the vertical plane above threshold (34).
  • an object e.g., an operator's finger
  • light sources (94) may effectively eliminate the blind spot that might otherwise exist for light sensors (92) in the absence of light sources (94).
  • light sources (94) may provide enhanced sensitivity of the regions of the light curtain adjacent to the upper portions of front columns (22, 24) (i.e., the regions of the light curtain adjacent to light sources (94)).
  • door (50) of the present example comprises a frame (52) and a front panel (54). As shown in FIGS. 8-9, door (50) further includes a lower panel (56) that is obliquely oriented relative to a horizontal plane.
  • lower panel (56) defines an angle of approximately 45° with a horizontal plane (HP), though it should be understood that lower panel (56) may alternatively define any other suitable oblique angle with the horizontal plane (HP).
  • lower panel (56) is black in the present example.
  • the black color of lower panel (56), as well as the oblique orientation of lower panel (56), may substantially prevent the bottom of door (50) from reflecting light that is emitted from light sources (90) back to light sensors (92).
  • the black color may absorb a substantial portion of the light from light sources (90) that reaches lower panel (56); while the obliquely angled orientation may deflect any of the light from light sources (90) away from light sensors (92).
  • a color other than black may be used for lower panel (56).
  • FIG. 10 shows how various components described above are coupled with a controller (100) in the present example.
  • controller (100) may be positioned at any suitable location (or combination of locations) in robotic system (10).
  • Various suitable hardware components that may be used to form controller (100) will be apparent to those of ordinary skill in the art in view of the teachings herein.
  • controller (100) is in communication with light sources (90, 94), light sensors (92), and moving assemblies (70, 72).
  • controller (100) is further in communication with a user feedback feature (102).
  • Controller (100) is operable to selectively activate light sources (90, 94) in response to various conditions.
  • controller (100) may automatically activate light sources (90, 94) as soon as robotic system (10) is turned on.
  • controller (100) may automatically activate light sources (90, 94) when door (50) reaches a fully opened (or partially opened) position.
  • one or more sensors may be configured to sense the position of door (50) and thereby communicate door (50) position data to controller (100).
  • controller (100) may automatically activate light sources (90, 94) when robotic system (10) has been activated to perform an operation where at least one moving assembly (70, 72) is placed in motion.
  • controller (100) may activate light sensors (92) based on the same condition (or combination of conditions) that is/are used to trigger activation of light sources (90, 94).
  • Controller (100) is further operable to activate moving assemblies (70, 72) in response to various conditions.
  • controller (100) may be in further communication with a storage device (not shown) that is configured to store various control algorithms, such that controller (100) is operable to activate moving assemblies (70, 72) to perform routines (e.g., fluid handling routines) by executing one or more control algorithms selected from the storage device. Moreover, controller (100) may be operable to create or alter control algorithms stored on the storage device.
  • controller (100) When controller (100) receives data from one or more light sensors (92) indicating that light from one or more light sources (92, 94) is being reflected by an object (e.g., an operator's finger) passing through the light curtain, such that the object is breaking the vertical plane extending above threshold (34), controller (100) may trigger one or more responses. For instance, if one or more of moving assemblies (70, 72) are in the middle of a routine where one or more of moving assemblies (70, 72) is in motion (or will soon be in motion), controller (100) may halt the routine in response to the sensed presence of an object breaking the vertical plane extending above threshold (34).
  • an object e.g., an operator's finger
  • controller (100) may halt further movement of all moving assemblies (70, 72) when an object is detected within the light curtain, slow down the motion of moving assemblies (70, 72), or halt further movement of some moving assemblies (70, 72) while allowing others to continue the routine.
  • controller (100) may automatically continue the routine of moving assemblies (70, 72) as soon as light sensors (92) sense that the object has been removed from the vertical plane extending above threshold (34).
  • controller (100) may require the operator to provide further user input (e.g., press a button) in order to start the routine of moving assemblies (70, 72) back up after light sensors (92) sense that the object has been removed from the vertical plane extending above threshold (34).
  • controller (100) is in communication with a user feedback feature (102).
  • controller (100) may be configured to activate user feedback feature (102) when light sensors (92) detect the presence of an object in the vertical plane extending above threshold (34). This activation of user feedback feature (102) may be performed simultaneously with the halting of the routine of moving assemblies (70, 72).
  • user feedback feature (102) may comprise an audible feedback feature and/or a visual feedback feature.
  • user feedback feature (102) comprises an audible component
  • the audible component may comprise an alert sound (e.g., buzzer, bell, beeping, etc.) and/or a vocal sound (e.g., a prerecorded vocal warning, etc.).
  • the visual component may comprise a light (e.g., a light that flashes or changes color), a textual message (e.g., on a display screen associated with robotic system (10)), and/or a graphical message (e.g., on a display screen associated with robotic system (10)).
  • a light e.g., a light that flashes or changes color
  • a textual message e.g., on a display screen associated with robotic system (10)
  • a graphical message e.g., on a display screen associated with robotic system (10)
  • a light curtain system for an automated apparatus accessible through an entry space comprising: (a) a bottom border of the entry space having a first light detection device and a light emission device; (b) a first side border of the entry space having a lower end and an upper end, wherein the lower end of the first side border abuts the bottom border, wherein the first side border includes a second light emission device arranged closer to the upper end of the first side border; and (c) a controller coupled to the light detection device; wherein the light detection device is configured to send a signal to the controller upon detecting light reflected by an object impinged by one of the first light emission device and the second light emission device.
  • the light curtain system of Example 1 further comprising a second side border of the entry space having a lower end and an upper end, wherein the lower end of the second side border abuts the bottom border, wherein the second side border includes a third light emission device arranged closer to the upper end of the second side border.
  • the light curtain system of any one or more of Examples 2 through 4 further comprising a door positioned between the first side border and the second side border.
  • Example 7 The light curtain system of any one or more of Examples 5 through 6 wherein the door includes a lower panel obliquely oriented relative to a horizontal plane.
  • Example 14 [0070] The light curtain system of any one or more of Examples 1 through 13 wherein the first side border is perpendicular to the bottom border.
  • a light curtain system having a first boundary and a second boundary comprising:
  • an emission device arranged on the first boundary wherein the emission device is configured to emit light
  • a detection device arranged on the second boundary wherein the detection device is configured to detect light
  • a controller coupled to the detection device and an automated apparatus, wherein the controller is configured to interrupt movement of the automated apparatus in response to the detection device detecting light reflected from an object.
  • the light curtain system of Example 15 further comprising a second emission device arranged on the second boundary, wherein the second emission device is configured to emit light.
  • the light curtain system of any one or more of Examples 15 through 16 further comprising a third emission device arranged on a third boundary of the light curtain system that opposes the first boundary, wherein the third emission device is configured to emit light.
  • Example 19 [0080] The light curtain system of any one or more of Examples 15 through 18 wherein the controller is configured to interrupt movement of the automated apparatus by decreasing the velocity of the automated apparatus.
  • a light curtain assembly comprising: (a) a detection device having a field of view; and (b) a cap arranged over the detection device, wherein the cap includes an aperture; wherein the aperture is a field stop that limits the field of view of the detection device.
  • Example 20 The light curtain assembly of Example 20 further comprising a light emission device.
  • Example 21 The light curtain assembly of Example 21 wherein the cap is arranged over the detection device and the light emission device, and wherein the cap includes a second aperture arranged over the light emission device.

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  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Geophysics (AREA)
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Abstract

Un système de rideau de lumière pour un appareil automatisé accessible par l'intermédiaire d'un espace d'entrée comprend une bordure inférieure, une première bordure latérale et un dispositif de commande. La bordure inférieure comporte un premier dispositif de détection de lumière et un dispositif d'émission de lumière. Le première bordure latérale comporte une extrémité inférieure et une extrémité supérieure. L'extrémité inférieure de la première bordure latérale vient en butée contre la bordure inférieure. La première bordure latérale comprend un second dispositif d'émission de lumière disposé plus près de l'extrémité supérieure de la première bordure latérale. Le dispositif de commande est couplé au dispositif de détection de lumière. Le dispositif de détection de lumière est configuré pour envoyer un signal au dispositif de commande lors de la détection de la lumière réfléchie par un objet atteint par le rayonnement du premier dispositif d'émission de lumière et/ou du second dispositif d'émission de lumière.
PCT/US2018/014138 2017-01-19 2018-01-18 Machine robotique à système de rideau de lumière Ceased WO2018136582A1 (fr)

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US201762448020P 2017-01-19 2017-01-19
US62/448,020 2017-01-19

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EP3627192A1 (fr) * 2018-09-20 2020-03-25 Rigaku Corporation Dispositif de protection pour un capteur de zone

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Publication number Priority date Publication date Assignee Title
US6166371A (en) 1999-04-30 2000-12-26 Beckman Coulter, Inc. Diffuse reflective light curtain system
US6680469B2 (en) * 2000-03-10 2004-01-20 Scientific Technologies Incorporated Segmented light curtain with keyed interfaces
US20160139297A1 (en) * 2013-06-13 2016-05-19 Pilz Auslandsbeteiligungen Gmbh Light curtain component

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6166371A (en) 1999-04-30 2000-12-26 Beckman Coulter, Inc. Diffuse reflective light curtain system
US6680469B2 (en) * 2000-03-10 2004-01-20 Scientific Technologies Incorporated Segmented light curtain with keyed interfaces
US20160139297A1 (en) * 2013-06-13 2016-05-19 Pilz Auslandsbeteiligungen Gmbh Light curtain component

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3627192A1 (fr) * 2018-09-20 2020-03-25 Rigaku Corporation Dispositif de protection pour un capteur de zone
JP2020046419A (ja) * 2018-09-20 2020-03-26 株式会社リガク エリア検出器の保護方法、エリア検出器用保護デバイス、並びに当該保護デバイスを有するｘ線検出器システム
US11085889B2 (en) 2018-09-20 2021-08-10 Rigaku Corporation Protection device for an area detector
JP7294649B2 (ja) 2018-09-20 2023-06-20 株式会社リガク エリア検出器の保護方法、エリア検出器用保護デバイス、並びに当該保護デバイスを有するｘ線検出器システム

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