System and method for providing security for robots

The present disclosure discloses a security system for robots. The security system comprises a lock located on a platform, configured to restrict power supply to a plurality of actuators of a robotic arm, a key configured to release the lock for providing power supply to the plurality of actuators and a processing unit. The processing unit is configured to restrict power supply to the robotic arm by initiating the lock, relocate the lock to a random location on the platform, generate an encrypted code based on the random location of the lock and a time-stamp and provide the encrypted code to the control unit for decryption. Upon decryption, the control unit configures the lock to supply power to the plurality of actuators. The plurality of actuators operates the robotic arm to pick the key and release the lock for supplying power to the plurality of actuators.

TECHNICAL FIELD

The present disclosure relates to industrial automation tools. Specifically, but not exclusively, the present disclosure relates to a system and a method for providing security to robots.

BACKGROUND

Robots are used in many applications. Robots are used as high speed and precision are achieved. Autonomous robots are used in isolated environments where human interference is minimal. Robots which operate with human collaboration are known as co-bots (collaborative robots). There are various types of co-bots and few co-bots can be used with or without any additional safety features. Co-bots can perform a variety of tasks. The co-bots require a substantial engineering effort with a carefully planned interaction methodology, so that human operators can effectively utilize robotic resources.

Cobots are controlled either manually or using a computer. Prior to controlling the co-bots manually or using computers, the co-bots must be provided with power. Once the power is provided, the co-bots can be instructed to perform specific tasks. In the conventional systems, often the co-bots are not secured and are mishandled. Mishandling the co-bots may lead to many undesired effects. In a scenario, an unauthorized user may switch on power and may misuse the co-bots manually. In another scenario, where the co-bots are controlled by computers, the unauthorized user may access the computer to misuse the co-bots. Thus, the conventional systems do not provide security to the co-bots. The misuse of co-bots may also cause harm to users working alongside the co-bots.

SUMMARY

In an embodiment, the present disclosure discloses a security system for robots. The security system comprises, a lock located on a platform, configured to restrict power supply to a plurality of actuators of a robotic arm, a key placed at, a predefined location, at a predefined distance from the robotic arm configured to release the lock for providing power supply to the plurality of actuators, and a processing unit. The processing unit is configured to restrict power supply to the robotic arm by initiating the lock, when the robotic arm is initiated by a control unit configured to control the plurality of actuators. Further, the processing unit relocates the lock to a random location on the platform and generate an encrypted code based on the random location of the lock and a time-stamp. Then, the processing unit provides the encrypted code to the control unit for decryption, where upon decryption, the control unit configures the lock to supply power to the plurality of actuators, where the plurality of actuators operates the robotic arm to pick the key and release the lock for supplying power to the plurality of actuators.

In an embodiment, the present disclosure discloses a control unit for providing security for robots. The control unit is configured to initiate a plurality of actuators of a robotic arm providing limited freedom for the movement of the robotic arm. Upon initiation, a processing unit associated with the control unit initiates a lock located on a platform to restrict power to the robotic arm. Further, the processing unit relocates the lock to a random location on the platform and generate an encrypted code based on the random location of the lock and a time-stamp. Thereafter, the processing unit decrypts the encrypted code for determining the random location of the lock, configures the lock to supply power to at least one actuator among the plurality of actuators of the robotic arm and instruct the at least one actuator to operate the robotic arm to pick a key placed at a predefined located, at a predefined distance from the robotic arm, to release the lock for providing power supply to the plurality of actuators.

In an embodiment the present disclosure discloses a method for providing security for robots. The method comprises initiating a plurality of actuators of a robotic arm. Upon initiation, a processing unit associated with the control unit initiates a lock located on a platform to restrict power to the robotic arm. Further, the processing unit relocates the lock to a random location on the platform and generate an encrypted code based on the random location of the lock and a time-stamp. Thereafter, the processing unit decrypts the encrypted code for determining the random location of the lock, configures the lock to supply power to at least one actuator among the plurality of actuators of the robotic arm and instruct the at least one actuator to operate the robotic arm to pick a key placed at a predefined located, at a predefined distance from the robotic arm, to release the lock for providing power supply to the plurality of actuators.

In an embodiment the present disclosure discloses A non-transitory computer readable medium including instructions stored thereon that when processed by at least one processor cause a device to perform operations comprising: initiating a plurality of actuators of a robotic arm. Upon initiation, a processing unit associated with the control unit initiates a lock located on a platform to restrict power to the robotic arm. Further, the processing unit relocates the lock to a random location on the platform and generate an encrypted code based on the random location of the lock and a time-stamp. Thereafter, the processing unit decrypts the encrypted code for determining the random location of the lock, configures the lock to supply power to at least one actuator among the plurality of actuators of the robotic arm and instruct the at least one actuator to operate the robotic arm to pick a key placed at a predefined located, at a predefined distance from the robotic arm, to release the lock for providing power supply to the plurality of actuators.

DETAILED DESCRIPTION

Embodiments of the present disclosure relate to a system for providing security to robots. The system comprises a lock located on a platform associated with robot, a key configured to release the lock, a processing unit and a control unit and a power source. When the robotic arm is initiated by the control unit, the processing unit restricts power to the robotic arm comprising plurality of actuators, by initiating the lock. Further, the processing unit relocates the lock to a random location on the platform and generates a code based on the random location. The code is provided to the control unit for decryption. The control unit decrypts the code to determine the random location of the lock. Further, the control unit configures the lock to supply power to at least one actuator and controls the at least one actuator and one or more end effectors to pick the key. Then, the key is used to release the lock for supplying power to the plurality of actuators of the robotic arm.

In an embodiment,FIG. 1illustrates an exemplary structure of a security system100for a robot, in accordance with some embodiments of the present disclosure. The security system100comprises a base101, a robotic arm102, a robotic arm column103, a first arm joint104A, a second arm joint104B, a first actuator105A, a second actuator105B, a third actuator105C, a first end effector106A, a second end effector106B, a lock107, a lock platform108, a lock actuator109, a processing unit110, a power source111, a control unit112, a key113and a key platform114.

In an embodiment, the base101may be a support for the robotic arm102, and the platform108. Also, the base101may house the lock actuator109and the processing unit110.

In an embodiment, the robotic arm102may be an electro-mechanical arm. The robotic arm102may be used to perform various functions. In an embodiment, the security system100may comprise a plurality of robotic arms. The robotic arm102may be one of, but is not limited to, a cartesian robot type, a cylindrical robot type, a spherical robot type, an articulated robot type, a parallel robot type, a Selective Compliance Assembly Robot Arm (SCARA) and anthropomorphic robot type.

The robotic arm column103may act as a support to the robotic arm102or can be one of the movable joints of the robotic arm102. The robotic arm column103may be configured at the bottom of the robotic arm102where the weight of the robotic arm102is centred. In an embodiment, the robotic arm102may comprise a plurality of robotic arm columns103. Also, the robotic arm column103may be configured in any location of the robotic arm102.

In an embodiment, the robotic arm102may comprise one or more arm joints. The first arm joint104A, and the second arm joint104B may be collectively represented as one or more arm joints104. The one or more arm joints104may be configured to move in a predefined axis or predefined axes. The one or more arm joints104may be configured to provide a three-axis movement for the robotic arm102.

In an embodiment, the first end effector106A and the second end effector106B may be collectively represented as one or more end effectors106in the present disclosure. The one or more end effectors106are connected to end of the robotic arm102. In an embodiment, the one or more end effectors106may interact with the environment for providing functionality of the robotic arm102. For example, in a robotic arm102used to tighten a screw, a screw driver may be the end effector. The screw is the environment and the screw driver of the robotic arm102is in contact with the screw. The one or more end effectors106may be, but is not limited to a gripper, a force-torque sensor, a material removal tool, a welding torch, a collision sensor, and a tool changer.

In an embodiment, the first actuator105A, the second actuator105B and the third actuator105C may be collectively represented as plurality of actuators105in the present disclosure. The plurality of actuators105may be configured to operate corresponding one or more arm joints104in a predefined axis or predefined axes. For example, fromFIG. 1, the actuator105A is configured to operate the arm joint104A in a predefined axis or predefined axes. In an embodiment, the plurality of actuators105may be configured to operate the one or more end effectors106in a predefined axis or predefined axes.

In an embodiment, the lock107may be connected to the power source111. The lock107may be configured to restrict power from the power source111to the plurality of actuators105. The lock may be connected to each of the plurality of actuators105(not shown in figure). The lock may be a conventional lock or any suitable lock that may restrict supply of power from the power source111to the plurality of actuators105.

In an embodiment, the processing unit110may be configured to initiate the lock107and restrict power supply to the plurality of actuators105. The processing unit110may initiate the lock107when the control unit112initiates the robotic arm102. Further, the processing unit110may provide instructions to the lock actuator109to relocate the lock107to a random location on the platform108. The lock actuator109may relocate the lock to a random location on the platform108. Thereafter, the processing unit110generates an encrypted code based on the random location of the lock107and provides the encrypted code to the control unit112for decrypting. The control unit112decrypts the encrypted code to determine the random location of the lock107. Further, the control unit112configures the lock107to supply power to at least one actuator among the plurality of actuators105. Furthermore, the control unit112instructs the at least one actuator to pick the key113and release the lock107for supplying power to the plurality of actuators105.

In an embodiment, the key113may be placed at a predefined location and at a predefined distance from the at least one actuator. Thus, control unit112may instruct the at least one actuator to pick the key for releasing the lock107. In an embodiment, the key113may be placed on a key platform114.

In an embodiment, the power source111may be, but is not limited to a battery, a cell, grid and the like.

FIG. 2illustrates the platform108of the lock107, for providing security to robots, in accordance with some embodiments of the present disclosure. The lock107may be placed on the platform108. The lock is relocated to a random location on the platform108by the lock actuator109.FIG. 2shows an exemplary embodiment, where the lock107is moved from an initial location to a random location. The lock107(dotted line) indicates an initial location. The lock107(continuous line) may indicate a relocated location.FIG. 2shows the platform108comprising a circular track202and a connecting track201. In an embodiment, the platform108may comprise a plurality of circular tracks202and a plurality of connecting tracks201. At the initial location, the lock107may be located on a predefined circular track202, for example a first circular track. In one embodiment, the lock107may be moved from the initial location to a random location on the first circular track. In an embodiment, the lock107may be moved from the first circular track to a second circular track. Further, the lock107may be moved to a random location in the second circular track. The movement from the first circular track to the second circular track may be enabled by the connecting track201. The connecting track201connects one circular track to another circular track. In an embodiment, the connecting track201may connect a plurality of circular tracks. As shown inFIG. 2, the lock107has been moved from the initial location from one circular track to another location on another circular track. The lock actuator109may comprise a mechanism to move the lock107to a random location on the platform108. The actuator109may use the circular track202and the connecting track201to relocate the lock107to a random location.

In an embodiment, the platform108may comprise any technology that enables movement of the lock107on the platform108. Also, the platform108may comprise tracks of any shape that enables the movement of the lock107to a random location on the platform108.

FIG. 3illustrates internal architecture of the control unit112in accordance with some embodiments of the present disclosure. The control unit112may include at least one Central Processing Unit (CPU) or processor303and a memory302storing instructions executable by the at least one processor303. The processor303may comprise at least one data processor for executing program components for executing user or system-generated requests. The memory302is communicatively coupled to the processor303. The control unit112further comprises an Input/Output (I/O) interface301. The I/O interface301is coupled with the processor303through which an input signal or/and an output signal is communicated.

In an embodiment, data304may be stored within the memory302. The data304may include, for example, key data305, actuators data306, decryption data307and other data308.

In an embodiment, the key data305may comprise, but is not limited to location of the key113on the key platform114, distance of the key113from the at least one actuator, location of the key platform114, and distance of the key platform114from the at least one actuator. The location of the key113is used to pick up the key113by the at least one actuator for releasing the lock107.

In an embodiment, the actuators data306may include, but is not limited to, number of actuators105present in the robotic arm102, number of actuators105required to be operated by the control unit112for picking the key113, number of arm joints connected to each actuator105, and the like.

In an embodiment, the decryption data307may include, but is not limited to a decryption key, encryption standard, etc.

In an embodiment, the other data308may include, but is not limited to, initial location of the lock107, relocated location of the lock107, etc.

In an embodiment, the data304in the memory302is processed by modules309of the control unit112. As used herein, the term module refers to an application specific integrated circuit (ASIC), an electronic circuit, a field-programmable gate arrays (FPGA), Programmable System-on-Chip (PSoC), a combinational logic circuit, and/or other suitable components that provide the described functionality. The modules309when configured with the functionality defined in the present disclosure will result in a novel hardware.

In one implementation, the modules309may include, for example, a communication module310, an actuator steering module311, a decryption module312and other modules313. It will be appreciated that such aforementioned modules309may be represented as a single module or a combination of different modules.

In an embodiment, the communication module310communicates with the plurality of actuators105, the lock107and the processing unit110. The communication module310may provide instructions to the plurality of actuators105to steer in a particular direction and distance. Also, the communication module310may instruct the plurality of actuators to perform specific tasks corresponding to actuator and a function associated with the actuator. For example, let us consider two actuators, a first actuator configured to rotate about an axis and a second actuator configured to provide a thrust. The communication module may instruct the first actuator to rotate in a predefined angle for a predefined time. Further, the communication module may instruct the second actuator to provide a predefined thrust for a predefined time.

In an embodiment, the communication module310receives the encrypted code from the processing unit110. The processing unit110configures the lock107to be moved to a random location on the platform108, when the plurality of actuators is initiated. Further, the processing unit110generates the encrypted code based on the random location of the lock107. The communication module310receives the encrypted code from the processing unit110for decrypting.

In an embodiment, the communication module310instructs the lock107to release power to the at least one actuator among the plurality of actuators105when the encrypted code is decrypted.

In an embodiment, the actuator steering module311may steer the plurality of actuators in a predefined axis. The actuator steering module311may use the actuators data306to determine the type of actuators used in the robotic arm102and one or more parameters associated with each actuator105. Further, based on the type of actuator and the one or more parameters, the actuator steering module311may steer the actuator105in a predefined axis. For example, consider a rotating mount as an actuator105. The one or more parameters of the rotating mount may be direction of rotation, rotating per minute (rpm), power requirements, and the like. The actuator steering module311may rotate the rotating mount in a clockwise direction at a predefined rpm. Likewise, the actuator steering module311may steer any type of actuator105.

In an embodiment, the decryption module312receives the encrypted code from the communication module310. The decryption module312decrypts the encrypted code to determine the random location of the lock107. The decryption module312may use any decryption methods to decrypt the encrypted code. For example, encryption methods to generate the encrypted code may include, but are not limited to, triple Data Encryption Standard (DES), Rivest-Shamir-Adleman (RSA), Blowfish, and Advanced Encryption Standard (AES). In an embodiment, each robotic arm102may have a corresponding decryption module312. For example, a first robotic arm102may have a first decryption module312and a second robotic arm102may have a second decryption module312. The decryption module312may be a proprietary module and may be accessed using credentials.

In an embodiment, the other modules313may include, but are not limited to, a user notification module.

In an embodiment, the user notification module may notify a user when the plurality of actuators is initiated, when the encrypted code is decrypted and in similar instances.

FIG. 4shows a flow chart illustrating a method for providing security to robots, in accordance with some embodiments of the present disclosure.

As illustrated inFIG. 4, the method400may comprise one or more steps for providing security to robots, in accordance with some embodiments of the present disclosure. The method400may be described in the general context of computer executable instructions. Generally, computer executable instructions can include routines, programs, objects, components, data structures, procedures, modules, and functions, which perform particular functions or implement particular abstract data types.

At step401, the processor303of the control unit112may initiate the plurality of actuators105. The processor303may be instructed by a user or may be configured to initiate the plurality of actuators105at a predefined time or upon a predefined event.

Now referring toFIG. 5, at step501, the processing unit110initiates the lock107located on the platform108to restrict power to the plurality of actuators105, upon initiation of the plurality of actuators105by the control unit112.

At step502, the processing unit110configures the lock107to be relocated to a random location from an initial location on the platform108. The processing unit110instructs the lock actuator109to relocate the lock107to the random location on the platform108. The lock actuator109may use the circular track202and the connecting track201to relocate the lock107to the random location on the platform108.

At step503, the processing unit110determines the random location and generates an encrypted code based on the random location of the lock107. In an embodiment, the processing unit110may use any encryption method to generate the encrypted code.

Referring back toFIG. 4, at step402the communication module310receives the encrypted code from the processing unit and provides the encrypted code to the decryption module312. The decryption module312decrypts the encrypted code and determines the random location of the lock107. The successful decryption of the encrypted code indicates that the control unit112has proprietary decryption method to control the robotic arm102. In an embodiment, the decryption module312may be a specific module for a particular robotic arm102.

At step403, the communication module310may instruct the lock107to supply power to at least one actuator among the plurality of actuators105. The at least one actuator105may be used to pick the key113for releasing the lock107.

At step404, the actuator steering module311may steer the at least one actuator105such that the robotic arm102moves to the predefined location where the key113is placed. Further, the actuator steering module311may configure the at least one actuator105such that the one or more end effectors106picks the key113from the key platform114. Thereafter, the actuator steering module311may steer the at least one actuator105such that the robotic arm102moves to the random location where the lock107is located. Further, the actuator steering module311configures the one or more end effectors106to insert the key113into the lock107and release the lock107such that power is supplied to the plurality of actuators105.

FIG. 6A,FIG. 6B,FIG. 6CandFIG. 6Dare examples illustrating various stages of the robotic arm102while providing security to robots.

FIG. 6Ashows an initial stage where the lock107is in an initial location on the platform108. Also, the robotic arm102is in an initial position. Let us consider that the control unit112initiates the plurality of actuators105. Now, the processing unit senses that the plurality of actuators105are initiated and immediately initiates the lock107to restrict power to the robotic arm102.

FIG. 6Billustrates relocating the lock107by the processing unit110. Once the processing unit initiates the lock107to restrict power to the plurality of actuators105, the processing unit110further instructs the lock actuator109to relocate the lock107to a random location on the platform108. In an embodiment, the processing unit110may be aware of the initial location of the lock107. The processor unit110may provide the initial location of the lock107to the lock actuator109. The lock actuator109moves the lock107from the initial location to the random location on the platform108. The random location may be calculated by the processing unit110using existing or upcoming methods.

Further, the processing unit110generates the encrypted code based on the random location and provides the encrypted code to the control unit112. Thereafter, the control unit112decrypts the encrypted code and the control unit112configures the lock107to supply power to at least one actuator105among the plurality of actuators105. Furthermore, the control unit112provides instructions to the at least one actuator105to pick up the key113placed at the predefined location on the key platform114.FIG. 6Cillustrates the step where the at least one actuator is configured to pick the key113from the key platform114. As seen in theFIG. 6C, the at least one actuator moves the second arm joint105B towards the predefined location of the key113. Further, the one or more end effectors106picks the key113from the key platform114.

Once the key113is picked by the at least one actuator105, the control unit112configures the at least one actuator105to move to the random location where the lock107is lock is located. This step is illustrated byFIG. 6D. The second arm joint104B is moved to the predefined location of the key113. Further, the one or more end effectors106inserts the key113into the lock107to release the lock107. Once the lock107is released, the power is supplied to the plurality of actuators105. Thus, the robotic arm102may be used for performing any desired task.

In an embodiment, the security system100as disclosed provides a physical safety to the robots. The lock107configured in the security system100restricts power to the robotic arm102, and provides power only when the lock is released. Thus, misuse of the robots is eliminated.

In an embodiment, the encrypted code provided to the control unit112for decryption ensures that a genuine method is used for decryption and malwares are not used for decryption.

In an embodiment, the physical security provided to the robots eliminates accidents caused by misuse of robots.

The enumerated listing of items does not imply that any or all of the items are mutually exclusive, unless expressly specified otherwise. The terms “a”, “an” and “the” mean “one or more”, unless expressly specified otherwise.

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