A control device according to one or more embodiments may execute an initialization process before it causes a robot to perform a task. After the initialization process is done, the control device may cause the robot to perform the task repetitively. On detection of entry of a person into a work area of the robot while the robot is performing the task repetitively, the control device may cause the robot to suspend the task and execute a re-initialization process. After the re-initialization process is done, the control device may cause the robot to perform the task repetitively.

A method for operating at least one robot includes determining the minimum distance of the robot from an obstacle, in particular the closest obstacle to the robot, in particular excluding at least one previously known, in particular temporary, obstacle; reducing the maximum speed of the robot if this minimum distance is below a first minimum distance; and reducing this maximum speed of the robot more if the minimum distance is below a second minimum distance which is smaller than the first minimum distance.

Systems and methods for determining safe zones in a workspace calculate safe actions in real time based on all sensed relevant objects and on the current state of the machinery (e.g., a robot) in the workspace. Various embodiments forecast, in real time, both the motion of the machinery and the possible motion of a human within the space, and continuously update the forecast as the machinery operates and humans move in the workspace.

A method of handling safety in a working area of an industrial system, wherein at least one machine is arranged to operate in the working area, at least one manually operable safety input device is provided in the working area, and one or more of the at least one machine and the at least one safety input device is movable to different positions in the working area, the method including continuously or repeatedly determining whether one or more of the at least one the machine is in proximity to one or more of the at least one safety input device; and associating at least one machine with the at least one safety input device upon determining that one or more of the at least one machine is in proximity to one or more of the at least one safety input device, such that the at least one associated machine can be brought to a safe state by means of the at least one safety input device.

A robot monitoring apparatus includes a position monitoring unit having a position monitoring function of calculating an attitude of a robot, and monitoring whether or not the robot interferes with a virtual safety fence, and a speed monitoring unit having a speed monitoring function of calculating and monitoring a speed of the robot. The apparatus has a first monitor mode in which, when the robot moves in an automatic operation mode, the robot is stopped when the robot interferes with the virtual safety fence in the position monitoring function and when the speed of the robot exceeds a first upper limit value in the speed monitoring function, and a second monitor mode in which, when the robot moves in a manual operation mode, the position monitoring function is disabled and the robot is stopped when the speed of the robot exceeds a second upper limit value smaller than the first upper limit value in the speed monitoring function.

A method of handling safety in a working area of an industrial system, wherein at least one machine is arranged to operate in the working area, at least one manually operable safety input device is provided in the working area, and one or more of the at least one machine and the at least one safety input device is movable to different positions in the working area, the method including continuously or repeatedly determining whether one or more of the at least one the machine is in proximity to one or more of the at least one safety input device; and associating at least one machine with the at least one safety input device upon determining that one or more of the at least one machine is in proximity to one or more of the at least one safety input device, such that the at least one associated machine can be brought to a safe state by means of the at least one safety input device.

Systems and methods monitor a workspace for safety purposes using sensors distributed about the workspace. The sensors are registered with respect to each other, and this registration is monitored over time. Occluded space as well as occupied space is identified, and this mapping is frequently updated.

A control device that controls a drive unit included by a production line includes: an obtaining unit that obtains physical information indicating a variation with time of a posture of a worker at work; a storage for storing physical information of the worker obtained when the worker works in a stable posture; a detection unit that detects a difference between a magnitude of the variation with time indicated by the physical information obtained and a magnitude of a variation with time indicated by the physical information stored in the storage; and a determination unit that determines from the detected difference whether to change an amount of controlling the drive unit.

A robot includes a movable unit that is movable in a first region and a second region. In a case where a first portion of the movable unit is positioned within the second region, a speed of the first portion is not 0 and is limited to a speed lower than the maximum speed of the first portion in a case where the first portion is positioned within the first region.

A distance-measuring system includes: a first ranging sensor; a second ranging sensor that covers a detection range more limited than a detection range covered by the first ranging sensor and has resolution higher than resolution of the first ranging sensor; and an image processing device. The image processing device includes: a machine detector that detects a position of a mobile machine, based on a first sensed result obtained by the first ranging sensor; a sensor controller that controls a detection position to be detected by the second ranging sensor to detect the position of the mobile machine which has been detected; and a safety determiner that controls the mobile machine, based on a second sensed result obtained by the second ranging sensor.