Systems and methods for determining the location of personnel on a drilling site. A computer vision system can automatically identify and determine the locations of personnel on a drilling site, can generate a confidence map of the locations, and can display the locations of the personnel on a map of the drilling site. The system and methods also include taking corrective action when a person's location is determined to be unsafe, such as by inhibiting or causing automated actions with respect to machinery and equipment at the drilling site. The systems and methods may include the use of multiple cameras or video sources located at the drilling site and may be coupled to a control system to control machinery or equipment at the drilling site.

A machine tool collision avoidance method includes: loading multiple processing codes; simulating multiple path traces corresponding to the processing codes; estimating multiple execution periods for running the path traces; selecting the shortest execution period from the execution periods; determines whether the distance between the trace point points on any two of the path traces is less than a safety distance within the shortest execution period; if the distance between a first trace point on a first path trace and a second trace point on a second path trace is less than the safety distance, estimating a first time point at which a first turret runs to the first trace point and a second time point at which the second turret runs to the second trace point; generating a collision warning if the difference between the first time point and the second time point is lower than a tolerance value.

Systems and methods for detection of people are disclosed. In some exemplary implementations, a robot can have a plurality of sensor units. Each sensor unit can be configured to generate sensor data indicative of a portion of a moving body at a plurality of times. Based on at least the sensor data, the robot can determine that the moving body is a person by at least detecting the motion of the moving body and determining that the moving body has characteristics of a person. The robot can then perform an action based at least in part on the determination that the moving body is a person.

Systems and methods are provided for specifying safety rules for robotic devices. A computing device can determine information about any actors present within a predetermined area of an environment. The computing device can determine a safety classification for the predetermined area based on the information. The safety classification can include: a low safety classification if the information indicates zero actors are present within the predetermined area, a medium safety classification if the information indicates any actors are present within the predetermined area all are of a predetermined first type, and a high safety classification if the information indicates at least one actor present within the predetermined area is of a predetermined second type. After determining the safety classification for the predetermined area, the computing device can provide a safety rule for operating within the predetermined area to a robotic device operating in the environment.

Machines with safety systems are disclosed. The machine may take the form of woodworking machines including table saws, band saws, miter saws, hand-held circular saws, pneumatic chop saws, radial-arm saws, jointers, planars, routers and shapers. The machines may include an operative structure configured to perform a task, where the operative structure includes a cutting tool adapted to move in at least one motion, and a safety system adapted to detect the occurrence of an unsafe condition between a person and the cutting tool and for mitigating the unsafe condition. The safety system may include a detection subsystem and a reaction subsystem. The machine may also include a bypass or override mode where in an injury mitigation system is disabled for certain cuts.

A method for detecting a collision of a robot arm with an object and a correspondingly configured robot. The robot arm is a part of the robot and includes a plurality of serially arranged links mounted relative to respective axes, and position sensors allocated to the individual axes are provided for determining the poses of any two adjacent links relative to one another. The robot further includes an electronic control device connected to the positioning devices, and actuators controlled by the electronic control device for automatically moving the links. The method includes evaluating whether at least one invariant for a target movement of the robot arm is satisfied by an actual movement of the robot arm and, when the evaluation results in a non-satisfaction of the at least one invariant, then indicating a collision of the robot arm with the object and initiating a safety function of the robot.

The control device controls industrial machinery. The control device includes a command analysis unit that analyzes blocks of a control program and creates command data that are based on the command of a given block; a safe operation command storage unit that stores, in advance, command data of a safe operation for transitioning the operating status of industrial machinery into a prescribed safe state; a receiving-interval-monitoring unit that monitors the receiving interval of periodically transmitted information transmitted from the PC; and a receiving-interval-determining unit that compares the receiving interval of the periodically transmitted information with a predetermined prescribed threshold value, and determines whether the receiving interval exceeds the threshold value, either the command data created by the command analysis unit or the command data of the safe operation stored in the safe operation command storage unit being outputted based on of the determination results of the receiving-interval-determining unit.

Situational-awareness controllers and methods to increase situational-awareness for an actor associated with a triggering event are described. An example method includes in response to receiving a notification of a triggering event generated by at least one sensor, a computing device accessing information that includes related to an actor associated with the triggering event. The computing device correlates the information to a compilation of historical information by (i) determining whether the actor's location is associated with one or more safety events stored as part of the compilation of historical information and (ii) determining a risk level of the actor based on whether the one or more associated safety events occurred within a predetermined range of time from the time associated with the triggering event. The computing device generates a command based on a result of the correlating and sends the command to at least one controllable device.

In a robot system, when an entry restriction region is enabled and a robot arm enters the entry restriction region, a forced stop of an operation of the robot arm is performed. A control method in which a control unit controls the robot arm includes: detecting a current position of a control point of the robot arm; predicting, using at least position information indicating the current position, at least one position to which the control point of the robot arm moves after a current time point; and performing, when the entry restriction region is enabled and there is a possibility that the robot arm enters the entry restriction region based on the at least one predicted position, control to avoid entry of the robot arm into the entry restriction region, the control including execution of a temporary stop which is a temporary stop of the operation of the robot arm before the robot arm enters the entry restriction region and which does not require a return operation when resuming the operation after the stop.

A numerical controller has a test mode of a machining program, sets, for each axis, a neighboring distance from a movement prohibition boundary of a tool or a workpiece, and temporarily stops an axis movement at a boundary of a near region thereof. A movable distance in a direction approaching the movement prohibition boundary is obtained for each axis such that the movable distance is less than a distance to the movement prohibition boundary. Further, if an axis exceeding the movable distance is present, an axis movement is stopped by restricting a movement distance within a range not exceeding the movable distance.