DE102010025781B4 - Portable safety input device for a robot controller - Google Patents

Abstract

Control system for operating a robot (4), with a robot controller (3) and an input arrangement, the input arrangement having a safety input device (1) and a hand-held device (2) which can be connected thereto, in particular detachably, for controlling this robot by means of communication with its robot controller (3), wherein the hand-held device (2) has control identification means for transmitting a control identification (ID) to the robot controller, in particular for transmitting a control identification (ID) to the robot controller and the safety input device, the portable safety input device (1) having at least one input means (1.2, 1.3, 1.4) for inputting a security signal to the robot controller (3),an interface (1.1) for communication with the hand-held device (2) connected, in particular detachably, to the security input device anda security identification means for transmitting an identification (ID1) of the security input device a n the robot controller, in particular to the robot controller and the hand-held device, the control system having a communication means (10) for wireless or wired secure communication between the robot controller and the safety input device and a communication means (20, 21) for wireless or wired communication between the robot controller and the hand-held device has, andwherein the robot controller has a comparison means for comparing an identification (ID1) transmitted from the safety input device to the robot controller with a control identification (ID) transmitted from the hand-held device to the robot controller.

Description

The present invention relates to a portable safety input device with an input means for entering a safety signal to a robot controller, an input arrangement and a control system for operating a robot, which have such a safety input device, a robot controller for such a control system and a method for operating a robot using such control system.

Special handheld devices for controlling robots by means of communication with the robot controller are, for example, from DE 101 10 776 A1 known. Disadvantageously, such robot-specific handheld devices are correspondingly expensive, and their development cycles are longer due to the small numbers.

On the other hand, today's small standard electronic devices such as mobile telephones, PDAs (“Personal Digital Assistants”) or so-called handhelds often already have sufficient computing power and storage capacity to also be used as a handheld device to control a robot after the appropriate software has been implemented.

However, this is opposed by the fact that high safety requirements have to be met when operating a robot - in particular, emergency stop input options and the like must always function safely. This is not possible with standard small devices, which are not designed for this purpose either in terms of hardware or software.

From the WO 97/10080 A1 discloses a joystick for controlling a robot, to which a safety input device independent thereof can be attached, with which, among other things, an emergency stop and an approval safety signal can be transmitted to a robot controller.

the DE 10 2008 060 118 A1 relates to a machine with a control device for controlling a function of this machine and an operating device for operating the machine, the operating device having a first actuating element, the function of the machine being able to be triggered by actuating this actuating element, the actuating element having a first connection to the control device can be brought into communication connection and wherein the operating device has a base part and the base part has a memory device in which an identifier uniquely identifying this base part can be stored and the operating device also has a portable operating part that can be connected to the base part, wherein between the operating part and the base part a Communication connection can be established and the control panel has the first actuating element.

the DE 103 59 898 A1 relates to a method for controlling and monitoring machines, in which signals are transmitted between a machine and a machine control device via a radio link, and in which a frequency hopping method is used for the secure transmission of signals in the industrial environment and signals associated with the same machine parameters are transmitted at least twice in succession different user channels are sent and received.

the WO 2003/088011 A2 relates to a mobile electronic arithmetic unit that can be held with one hand, with a software-controlled processor unit, a storage device connected thereto for storing software modules and/or data to be processed, a display device for the visually detectable output of information and with an input device for influencing the operating functions of the arithmetic unit and/or to enter data.

the JP 2004 - 355195 A relates to providing a teaching operation apparatus for a robot provided with a PDA composed of a CPU, a memory connected to the CPU and storing teaching content, a display that displays an image signal from the CPU, and a touch panel, that performs an input operation by touching a specified position on a screen of the display, and an emergency stop command device that provides an emergency stop switch and a dead man's switch.

the US 6,697,681 B1 relates to a device in a network with multiple units of programmable industrial equipment that includes a control handle connected to a controller for a unit of programmable equipment and a shared operation unit that is selectively connected to the control handle to control the unit of programmable industrial equipment to control the controls.

the EP 1 247 656 A1 relates to a plant which has machines with a plurality of processing stations which form a product line, a control device being provided for controlling the processing stations and an input means for operating the processing stations by the control device, the input means being freely movable and the location or relative position of the Input means to the processing stations is automatically recognizable.

The object of the present invention is to improve the operation of a robot using a hand-held device.

This object is solved by a control system with the features of claim 1. Claim 9 protects a robot controller for such a control system, claim 10 protects a method for operating a robot by means of such a control system and claim 11 protects a computer program product for implementing means or methods according to the invention. The dependent claims relate to advantageous developments.

According to the invention, a portable safety input device that can also be connected in terms of information technology to a hand-held device is proposed.

The hand-held device can in particular be a small standard electronic device such as a mobile telephone, PDA, handheld, pocket PC, smartphone, network or notebook, laptop, multifunction device or the like. These devices are available inexpensively from a large number of suppliers, generally go through significantly faster evolution cycles than special hand-held devices for robots, and also offer other applications such as telephony, document management and processing, application of additional programs and the like.

The hand-held device is used to control at least one robot by communicating with a robot controller for that robot(s). The control intelligence, ie for example the path planning, interpolation, regulation and the like, can be implemented at least partially in the hand-held device. The robot controller with which the hand-held device communicates can then, for example, essentially only include the power electronics of the robot drives. In a preferred embodiment, the control intelligence is fully or at least partially implemented in the robot controller. The hand-held device can then act in particular as a so-called remote client according to a remote desktop protocol such as Windows RDP or Thinstuff LX and simulate a user interface of the robot controller. For this purpose, the robot controller preferably has the function of a remote server or master.

In contrast, the safety input device can preferably communicate with the robot controller using safe technology. It is intended for inputting safety signals, such as an emergency stop signal in particular, which cause the robot controller or robot to react accordingly, for example a STOP 0, STOP 1 or STOP 2 when an emergency stop button or sensor is pressed. Additionally or alternatively, a consent signal can be provided as a safety signal, for example, which is input via the safety input device, for example by actuating a consent button or sensor and allowing operation, in particular movement, of the robot only when the consent input means is actuated . In addition or as an alternative, an operating mode signal for selecting an operating mode, for example automatic, test and set-up mode, and/or an authorization signal can be provided as a safety signal, for example by inserting a key, an ID card or the like in an authorization input means is triggered.

According to the invention, an interface for communication between the portable security input device and the hand-held device is now provided. This can have, for example, a preferably parallel or serial contacting interface, in particular a USB interface, whereby in a preferred development one of the safety input device and the handheld device acts as the USB master and the other from the safety input device and the handheld device as the USB client or USB interface .-slave acts. Equally, this interface can also have a contactless interface, in particular a transmission/reception means for radio transmission between devices such as WPAN, for example a Bluetooth connection.

It can thereby be ensured that control commands, which are transmitted from the hand-held device to the robot controller, and safety signals, which are input into the robot controller via the safety input device, come from the same input arrangement.

For this purpose, according to a first aspect of the present invention, a safety identification means of the safety input device transmits a preferably unique and/or safety input device-specific identification, for example a code of the safety input device, to the robot controller and to the hand-held device. This can be done once, in particular when the operation is established, or cyclically or continuously.

A control identification means of the hand-held device then transmits a control identification to the robot controller once, in particular when the operation is established, or cyclically or continuously, on the basis of the identification transmitted from the safety input device to the hand-held device.

In this case, the identification that the security input device transmits to the hand-held device can match the identification that the security input device transmitted to the robot controller and/or be identical to the control identification. Equally, the identification that the safety input device transmits to the robot controller and/or the control identification can be, for example, a complement, a checksum or the like of the identification that the safety input device transmits to the hand-held device.

The tax identification can be transmitted via an RDP protocol, for example. In particular, it can be transmitted via a so-called "virtual channel".

A comparison means of the robot controller compares—once again, once, in particular when operation is established, or cyclically or continuously—the identification transmitted from the safety input device to the robot controller with the control identifier transmitted from the hand-held device to the robot controller.

If these meet a specified relationship, the robot controller can assume that control commands and safety signals come from the same input arrangement and may, for example, execute control commands that are transmitted via a hand-held device as long as there are approval signals from the safety input device. If the identification that the safety input device transmits to the robot controller and the hand-held device is identical to the control identification, the specified relationship is met when the comparison means determines that the identification transmitted from the safety input device to the robot controller corresponds to that from the hand-held device to the robot controller transmitted tax identification is identical.

According to a second aspect of the present invention, conversely, the control identification means of the hand-held device not only transmits a control identification to the robot controller, but also to the safety input device, whose safety identification means transmits an identification from the safety input device to the robot controller on the basis of this transmitted control identification.

Otherwise, this second aspect corresponds to the first aspect explained above, only the identification that is transmitted between the security input device and the hand-held device is determined by the hand-held device and not, as in the first aspect, by the safety input device.

In particular, according to the second aspect, the control identification can be a preferably unique and/or hand-held device-specific identification, for example a code of the hand-held device, which is transmitted once, cyclically or continuously to the security input device. The control identification that the hand-held device transmits to the safety input device can be identical to the control identification that the hand-held device transmits to the robot controller and/or to the identification that the safety input device transmits to the robot controller. Equally, the identifications can in turn be complements, checksums or the like, for example.

In particular, if according to the first or second aspect an identification is transmitted cyclically or continuously between the handheld device and the safety input device and/or between the handheld device and the robot controller, the handheld device and/or the robot controller can also detect a separation of the handheld device and the safety input device. For example, if the hand-held device does not receive an identification, although this is intended, it can interrupt the operation of the robot, in particular no longer transmit any control commands. Likewise, the robot controller can interrupt the operation of the robot by the hand-held device if the latter does not transmit any control identification, although this is intended and is monitored by a watch-dog device, for example.

Consequently, a secure input arrangement can be formed from standard small devices and a security input device connected to them via an interface, preferably a standard interface such as USB, Bluetooth or the like, and the advantages of standard small devices can thus be used.

In a preferred embodiment, the safety input device is designed using safe technology to input a safety signal to the robot controller of the robot. For this purpose, it can have, for example, appropriate secure, preferably redundant, in particular diverse inputs, outputs, assemblies and/or processing paths.

The wireless or wired communication of the robot controller with the safety input device preferably also takes place using safe technology, for example according to the EtherCAT or “Safety over EtherCAT” (“FSoE”) protocol. The communication of the robot controller with the hand-held device, ie in particular the transmission of the control identification, for example via a virtual channel, the transmission of control commands entered via the hand-held device and/or the transmission of data for simulating the User interface by a handheld device acting as a remote desktop client can also be wireless, in particular by means of Bluetooth, or wired. In a preferred embodiment, it takes place via standard Ethernet according to TCP/IP, UDP and/or RDP protocol.

In a preferred embodiment, a releasable lock is provided for attaching the handset to the security input device. Depending on the type of hand-held device provided for connection, this can be formed, for example, in a manner known per se by a clamping device, stops for form-fitting contact or reception of the hand-held device or the like.

One of the safety input device and the hand-held device preferably has an energy source for the other of the safety input device and the hand-held device, with the interface then preferably also being designed for energy transmission. Alternatively, the hand-held device and safety input device can also be designed to be energetically autonomous.

In a preferred embodiment, the hand-held device has a command input means for inputting a control command to the robot controller of the robot and/or an output means for outputting information from the robot controller of the robot. Input and output means can be realized jointly by a touchscreen, for example. Equally, a command input means can also include a joystick, one or more keys or a touchpad, an output means can also have an acoustic and/or haptic output in addition or as an alternative to a visual output such as a screen in particular.

Means explained above, such as security identification means, control identification means or comparison means, can equally be implemented in hardware and/or software, ie for example by appropriate microcontrollers, assemblies, programs or program modules.

In a preferred embodiment, a security input device is provided for connection or communication with different hand-held devices, for example by having a standard interface such as USB and/or a lock for attaching different hand-held devices.

The end of the operation can preferably be commanded via the hand-held device, for example by appropriate input, and is therefore preferably not carried out using secure technology. A period of time is then preferably provided within which the secure communication between the robot controller and the safety input device is ended in an orderly manner.

According to the above, one aspect of the invention can be defined in particular as the separate transmission of identifications (identification or control identification) by the handheld device and safety input device to the robot controller after prior transmission between the handheld device and safety input device, so that it is ensured that safety signals come from the safety input device that is connected to and communicates with the handset from which the control commands come.

• 1: ein Steuersystem mit einer Robotersteuerung und einer Eingabeanordnung mit einer Sicherheitseingabeeinrichtung nach einer Ausführung der vorliegenden Erfindung; und
• 2: den Ablauf eines erfindungsgemäßen Verfahrens.

Further advantages and features emerge from the dependent claims and the exemplary embodiments. This shows, partially schematized:

• 1 : a control system including a robot controller and an input device including a safety input device according to an embodiment of the present invention; and
• 2 : the course of a method according to the invention.

1 shows a robot 4 and a robot controller 3 connected to it. In a modification that is not shown, this can also control several robots. It essentially implements the control intelligence, ie, for example, path planning, interpolation, force and/or position control and the like.

An HMI (“Human Machine Interface”) for entering control commands under an operating system, for example Windows, is implemented in the robot controller 3 and can be simulated on an RDP client via an RDP protocol.

A hand-held device in the form of a mobile telephone 2 has a touchscreen 2.2, which serves as an output means for outputting information from the robot controller 3, in particular for displaying a user interface, and at the same time as a command input means for entering control commands and has buttons 2.1 for this purpose.

The hand-held device 2 is detachably attached to a portable safety input device 1 by means of a clamping device 2.5, as is known in principle, for example from holders for mobile telephones in motor vehicles, and connected to it via a USB interface 1.1 (dashed in 1 ) tied together.

The safety input device 1 has an emergency stop button 1.2, an enabling button 1.3 and an operating mode selector switch 1.4.

To operate the robot 4 via the hand-held device 2, on the one hand secure communication is set up between the safety input device 1 and the robot controller 3, as shown in 2 shown (“1 ↔ 3”). For example, the safety input device 1 communicates wirelessly or wired via EtherCAT 10 with FSoE with the robot controller 3. The emergency stop button 1.2, enabling button 1.3 and operating mode selector switch 1.4 are connected via inputs using safe technology with assemblies, in particular SIONs, in the safety input device 1 connected, which transmits an emergency stop signal to the robot controller via the means of communication 10 in safe technology if the emergency stop button 1.2 is actuated or a voltage monitor of the safety input device 1 detects an interruption in the input to the emergency stop button 1.2. In the same way, an approval signal is transmitted to the robot controller 3 using secure technology, as long as the approval button 1.3 is actuated correctly. Excessive actuation, in particular a panic-like full depression of the button, is preferably recognized as incorrect actuation and in this case, as well as in the case of no actuation, no approval signal is transmitted to the robot controller 3 via the communication means 10 . A positive consent signal can likewise be implemented by dropping a complementary no-confirm signal.

In addition, the safety input device 1 uses secure technology to transmit an operating mode signal depending on the position of the operating mode selector switch 1.4, based on which the robot controller 3, for example, initiates automatic operation, in which the robot 3 runs through a specified program at the speed provided for this purpose, a test operation, in which it runs the program at reduced speed, or carries out a set-up operation in which the robot can only be moved manually.

At least once when establishing secure communication between the safety input device and the robot controller, in a modification also cyclically or continuously, a safety identification means of the safety input device transmits an identification "ID1" to the robot controller 3, as in 2 shown (“1: ID1 → 3”). This preferably takes place only when or for as long as a correctly connected hand-held device 2 is recognized by means of the USB interface 1.1. This identification is preferably an identification that is unique to the safety input device, for example an alphanumeric code or the like, and is stored in the robot controller 3 .

Before that, at the same time or afterwards, this identification is transmitted at least once, in a modification also cyclically or continuously, by the security identification means also via the USB interface 1.1 or in a modification not shown by means of Bluetooth to the hand-held device 2, as in 2 shown (“1 ↔2 (1: ID1 → 2)”).

Before that, at the same time or afterwards, an RDP session is set up between the handheld device 2 and the robot controller 3 via a standard Ethernet communication means 20, as in 2 shown (“2 ↔ 3”) . The handheld device 2 acts as an RDP client that simulates a user interface of the robot controller 3 on its touchscreen. In 1 an example of an input mode is shown in which the operator can manually control the robot drives individually by tapping the corresponding joint on a representation of the robot on the touchscreen 2.2 (in 1 the shoulder joint, for which a positive direction of movement is then displayed) and can then move in a positive or negative direction of movement using the touchscreen buttons 2.1. While the robot controller 3 transmits data for the RDP client via the communication means 20, in particular for displaying the user interface, the hand-held device transmits the corresponding inputs, such as operations on the touchscreen 2.2 or its buttons 2.1, as control commands to the robot controller 3.

At least once when the operation is established, in a modification also cyclically or continuously, a control identification means of the handheld device 2 transmits the identification ID1, which has been transmitted from the safety input device to the handheld device, as a control identification ID to the robot controller, as in 2 shown (“2: ID → 3”). In a preferred embodiment, the identification ID1 transmitted by the safety input device to the hand-held device is only transmitted from the hand-held device as a control identification ID to the robot controller 3 as long as the hand-held device 2 in turn receives the identification ID1 from the safety input device 1, for example cyclically. In this way it can be ensured that the security input device and the hand-held device are currently connected.

As in 2 indicated by a separate dash-double-dotted line, the control identification ID is transmitted via a virtual channel 21 of the RDP session between the robot controller 3 and the hand-held device 2, which, like the communication between the safety input device 1 and the hand-held device advises 2 and / or between safety input device 1 and robot controller 3 can be wireless or wired.

A safety means of the robot controller 3 now compares at least once when establishing the operation, in a modification also cyclically or continuously, the identification ID1 transmitted from the safety input device 1 to the robot controller 3 with the one from the hand-held device 2 via the virtual channel 21 to the robot controller 3 transmitted tax identification ID.

Do they match ( 2 : "Y"), operation has been successfully established or continued, since this ensures that an approval signal comes from the approval button 1.3 of the safety input device 1 that is connected to the hand-held device 2 from which the robot controller 3 receives the corresponding control commands and the control identification ID.

On the other hand, if the identification ID1 transmitted from the safety input device 1 to the robot controller 3 does not match the control identification ID transmitted from the hand-held device 2 to the robot controller 3 ( 2 : "N"), the operation is not established or no longer continued. For example, the robot controller 3 no longer executes control commands from the hand-held device 2 because it is not certain that the consent button 1.3 on the safety input device 1 connected to this hand-held device 2 is correctly actuated.

In this way, the robot 4 can be controlled via the robot controller 3 using one of several different standard small electronic devices, for example different smartphones, in that an RDP client communicates with the RDP server of the robot controller 3 and thus in particular a user interface 2.2 is simulated on the handset. Since the robot controller compares an identification ID1, which it receives from the safety input device 1, with a control identification ID, which the hand-held device 2 in turn transmits to the robot controller 3 on the basis of the identification ID1 transmitted by the safety input device 1, it can be ensured that the hand-held device has the interface 1.1 is connected to that safety input device from which the robot controller 3 receives the safety signals, for example an approval signal.

Reference List

1

security input device

1.1

Interface (USB or Bluetooth)

1.2

Emergency stop button (emergency stop input means)

1.3

Approval button (approval input means)

1.4

Operating mode selector switch (operating mode input means)

1.5

releasable lock

2

mobile phone (handheld)

2.1

Touchscreen button (command input means)

2.2

Touchscreen (output means)

3

robot controller

4

robot

10

Means of communication (EtherCAT)

20

Means of communication (Ethernet)

21

Virtual Channel

Claims (11)

Control system for operating a robot (4), with a robot controller (3) and an input arrangement, the input arrangement comprising a safety input device (1) and a hand-held device (2) which can be connected thereto, in particular detachably, for controlling this robot by means of communication with its robot controller (3 ), wherein the hand-held device (2) has control identification means for transmitting a control identification (ID) to the robot controller, in particular for transmitting a control identification (ID) to the robot controller and the safety input device, the portable safety input device (1) having at least one input means (1.2 , 1.3, 1.4) for inputting a safety signal to the robot controller (3), an interface (1.1) for communication with the hand-held device (2) connected, in particular detachably, to the safety input device, and a safety identification means for transmitting an identification (ID1) of the safety input device Device to the robot controller, in particular to the robot controller and the handheld device, wherein the control system has a communication means (10) for wireless or wired secure communication of the robot controller with the safety input device and a communication means (20, 21) for wireless or wired communication of the robot controller with comprises the hand-held device, and wherein the robot controller comprises a comparison means for comparing an identification (ID1) transmitted by the safety input device to the robot controller with a control identification (ID) transmitted by the hand-held device to the robot controller. tax system according to claim 1 , characterized in that the hand-held device is designed to simulate a user interface of the robot controller. Control system according to one of the preceding claims, characterized in that the safety input device has an emergency stop input means (1.2) for inputting an emergency stop signal, an approval input means (1.3) for inputting an approval signal, an operating mode input means (1.4) for input an operating mode signal and/or an authorization input means for inputting an authorization signal. Control system according to one of the preceding claims, characterized in that the safety input device for entering a safety signal to the robot controller of the robot is designed using safe technology. Control system according to one of the preceding claims, characterized in that the hand-held device is in the form of a mobile telephone (2), PDA or portable computer. Control system according to one of the preceding claims, characterized by a releasable locking device (1.5) for fastening the hand-held device. A control system according to any one of the preceding claims, characterized in that one of the safety input device and the handset includes a power source for the other of the safety input device and the handset. Control system according to one of the preceding claims, characterized in that the hand-held device has a command input means (2.1) for inputting a control command to the robot controller of the robot and/or an output means (2.2) for outputting information from the robot controller of the robot. Robot controller for a control system according to one of the preceding claims, characterized in that this robot controller is the robot controller mentioned in these claims. Method of operating a robot (4) by means of a control system according to any one of the preceding Claims 1 until 8th , characterized by the steps of: transmitting (1: ID1 → 3) an identification (ID1) of the safety input device (1) by the safety identification means of the safety input device to the robot controller (3); Transmission (1: ID1→2) of an identification (ID1) of the security input device (1) by the security identification means of the security input device to the hand-held device (2); Transmission (2: ID → 3) of a control identification (ID) by the control identification means of the hand-held device to the robot controller (3); and comparing (ID=ID1?) the identification transmitted from the safety input device to the robot controller with the control identification transmitted from the hand-held device to the robot controller; or by the steps of: transmitting a control identification (ID) by the control identification means of the handset to the security input device (1); Transmission (1: ID1→3) of an identification (ID1) of the safety input device (1) by the safety identification means of the safety input device to the robot controller (3) on the basis of this transmitted control identification; Transmission (2: ID → 3) of a control identification (ID) by the control identification means of the hand-held device to the robot controller (3); and comparing (ID=ID1?) the identification transmitted from the safety input device to the robot controller with the control identification transmitted from the hand-held device to the robot controller. Computer program product with program code stored on a machine-readable medium, which follows the comparison step in the method claim 10 executes when it is executed on a data processing system, and the method according to claim 10 is performed.

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