Granted Patent B2

US 12,643,233 · App. 18/553,949 · Granted Jun 2, 2026

Inventors: Daniel James Middleton (Balderstone, GB); Martin Knott (Balderstone, GB); Simon Cheetham (Preston, GB)

Assignee: BAE Systems plc

B25J9/1661B25J9/0084B25J9/1664B25J9/1697

Abstract

Claims (23)

1 . A robot cell, comprising:

a cell floor defining an array of nodes corresponding with a predetermined two-dimensional coordinate system and defining a volume for receiving a workpiece therein;

a set of robots, including a first robot, each robot of the set of robots having a respective base, end effector and working envelope and defining a respective three-dimensional coordinate system, located according to the array of nodes;

a set of non-contact robot detectors, each non-contact robot detector of the set of non-contact robot detectors being configured to detect a location and/or bearing of a respective robot of the set of robots;

a set of remote, movable, non-contact, pose-detecting sensors that are separate, distinct, and spaced apart from the set of robots, the set of remote, movable, non-contact pose-detecting sensors including a first pose-detecting sensor and a second pose-detecting sensor, the first pose-detecting sensor and the second pose-detecting sensor being constrained to move in mutually orthogonal directions, the remote, movable, non-contact pose-detecting sensors of the set of remote, movable, non-contact pose-detecting sensors being configured to sense respective poses of the set of robots; and

a controller, communicatively coupled to the set of robots and to the set of remote, movable, non-contact, pose-detecting sensors, the controller being configured to obtain the three-dimensional coordinate systems and to guide the set of robots within the respective working envelopes according to the obtained three-dimensional coordinate systems using the detected respective locations and/or bearings and the sensed respective poses.

2 . The robot cell according to claim 1 , wherein the respective bases of the set of robots are releasably attached to the cell floor.

3 . The robot cell according to claim 1 , wherein the cell floor comprises a set of electrical and/or communications outlets and wherein the set of robots is releasably coupled thereto.

4 . The robot cell according to claim 1 , wherein respective nodes of the array thereof are mutually equispaced on the predetermined two-dimensional coordinate system.

5 . The robot cell according to claim 1 , wherein the first pose-detecting sensor is a camera.

6 . The robot cell according to claim 1 , wherein the first pose-detecting sensor and the second pose-detecting sensor are constrained to be oriented orthogonally.

7 . The robot cell according to claim 1 , wherein the set of remote, movable, non-contact, pose-detecting sensors are configured to repeatedly sense the respective poses of the set of robots while the controller guides the set of robots.

8 . The robot cell according to claim 7 , wherein the set of remote, movable, non-contact, pose-detecting sensors are configured to sense the respective poses of the set of robots intermittently, periodically, or continuously, while the controller guides the set of robots.

9 . The robot cell according to claim 1 , wherein the obtained three-dimensional coordinate system is defined, at least in part, by a workpiece received in the defined volume.

10 . The robot cell according to claim 1 , wherein the controller is configured to guide the set of robots within the respective working envelopes by correcting respective movements thereof using the sensed respective poses.

11 . The robot cell according to claim 1 , wherein the set of remote, movable, non-contact, pose-detecting sensors are configured to selectively sense respective poses of the set of robots, depending on respective movement thereof.

12 . The robot cell according to claim 1 , wherein the controller is configured to instruct changing the location and/or bearing of the first robot by detachment of the first robot from the cell floor.

13 . The robot cell according to claim 1 , wherein the set of robots includes a second robot, wherein the respective working envelopes of the first robot and the second robot intersect, and wherein the controller is configured to guide the first robot and the second robot in mutual coordination.

14 . A method of controlling a robot cell, having a cell floor defining an array of nodes corresponding with a predetermined two-dimensional coordinate system and defining a volume for receiving a workpiece therein, wherein the method comprises:

detecting, by a set of non-contact robot detectors, respective locations and/or bearings of a set of robots, including a first robot, having respective bases, end effectors and working envelopes and defining respective three-dimensional coordinate systems, located according to the array of nodes;

sensing, by a set of remote, movable, non-contact, pose-detecting sensors, respective poses of the set of robots, the remote, movable, non-contact, pose-detecting sensors being separate, distinct, and spaced apart from the set of robots; and

guiding, by a controller communicatively coupled to the set of robots and to the set of remote, movable, non-contact, pose-detecting sensors, the set of robots within the respective working envelopes according to the obtained three-dimensional coordinate systems using the detected respective locations and/or bearings and the sensed respective poses;

wherein the set of remote, movable, non-contact, pose-detecting sensors comprises a first pose-detecting sensor and a second pose-detecting sensor, the first and second pose-detecting sensors being constrained to move in mutually orthogonal directions.

Assignments (1)

Priority Claims (2)

Continuity (1)

References Cited (57)