DE10324627A1 - Working space monitoring for automated operating machines involves monitoring speed-dependent second zone for object penetration, preventing object from entering first zone if detected in second zone - Google Patents
Working space monitoring for automated operating machines involves monitoring speed-dependent second zone for object penetration, preventing object from entering first zone if detected in second zone Download PDFInfo
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- DE10324627A1 DE10324627A1 DE2003124627 DE10324627A DE10324627A1 DE 10324627 A1 DE10324627 A1 DE 10324627A1 DE 2003124627 DE2003124627 DE 2003124627 DE 10324627 A DE10324627 A DE 10324627A DE 10324627 A1 DE10324627 A1 DE 10324627A1
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- Prior art keywords
- zone
- monitored
- person
- robot
- machine
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4061—Avoiding collision or forbidden zones
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49138—Adapt working envelop, limit, allowed zone to speed of tool
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49152—Feedhold, stop motion if machine door is open, if operator in forbidden zone
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49157—Limitation, collision, interference, forbidden zones, avoid obstacles
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
Description
Bei der Erfindung handelt es sich um ein Verfahren zur Überwachung einer Umgebung einer automatisiert arbeitenden Maschine, bei dem eine erste zu überwachende Zone auf das Eindringen von Objekten überwacht und, wenn ein eindringendes Objekt erfasst wird, ein Nothalt der Maschine durchgeführt wird.at The invention is a method for monitoring an environment of an automated machine in which a first to be monitored Zone monitors for intrusion of objects and, if penetrating Object is detected, an emergency stop of the machine is performed.
Beim praktischen Einsatz von automatisiert arbeitenden Maschinen oder Robotern hat die Sicherheit von Personen höchste Priorität. Personensicherheit ist vor allem bei mobilen, insbesondere autonom mobilen Maschinen gefordert. Aber auch die Sicherheit von im Wirkungsbereich der Maschine befindlichen Objekten muss gewährleistet sein, damit Kollisionen der Maschine mit diesen Objekten vermieden werden, die zu Beschädigungen sowohl der Maschine als auch der Objekte führen können. Aus diesen Gründen muss im Betrieb einer automatisiert arbeitenden Maschine deren Umgebung ständig überwacht werden. Hierzu werden beispielsweise Kameras oder auf Reflexion von Laserlicht oder Ultraschall basierende Abstandssensoren eingesetzt. Mit solchen Sensoren werden definierte Zonen der Umgebung der Maschine überwacht und in diese Zonen eintretende Objekte, bei denen es sich auch um Personen handeln kann, erfasst. Es ist bekannt, als Schutzreaktion einen Nothalt der Maschine herbeizuführen, sobald in einer solchen Zone ein eingetretenes Objekt erfasst wird.At the practical use of automated machines or Robots have the highest priority on the safety of people. personal safety is mainly for mobile, especially autonomous mobile machines required. But also the safety of within the sphere of influence of the machine located objects must be guaranteed so as to avoid collisions of the machine with these objects that will cause damage both the machine and the objects. For these reasons, must in the operation of an automated machine whose environment constantly monitored become. For this purpose, for example, cameras or reflection used by laser light or ultrasound-based distance sensors. With Such sensors monitor defined zones of the machine environment and objects entering those zones, which are also persons can act, recorded. It is known as a protective reaction one Emergency stop of the machine, as soon as an object that has entered is detected in such a zone.
Nachteilig an einem Nothalt der Maschine ist, dass die Maschine nach Erfolgen des Nothalts nur mit einem zeitraubenden und umständlichen Arbeitsaufwand erneut in Betrieb gesetzt werden kann. Ein Produktionsfluss wird dadurch gehemmt, kostspielige Verzögerungen in der Fertigung sind die Folge.adversely At an emergency stop the machine is that the machine after successes of emergency only with a time-consuming and cumbersome Workload can be put into operation again. A production flow is hampered by this, costly delays in manufacturing are the episode.
Es ist daher Aufgabe der Erfindung, ein Verfahren zur Absicherung der Umgebung einer automatisiert arbeitenden Maschine vorzustellen, das es der Maschine bei Erfassung eines Objekts in ihrer Umgebung erlaubt, derart zu reagieren, dass ein Notstopp nach Möglichkeit umgangen wird, ohne die Sicherheit herabzusetzen.It It is therefore an object of the invention to provide a method for securing the Environment of an automated machine, it's the machine detecting an object in its environment allowed to react in such a way that an emergency stop if possible bypassed without degrading security.
Diese Aufgabe wird durch das Verfahren nach Anspruch 1 gelöst.These The object is achieved by the method according to claim 1.
Das erfindungsgemäße Verfahren erlaubt es mit der zweiten Zone, die im Schritt (c) in Abhängigkeit einer Geschwindigkeit wenigstens einer sich bewegenden Komponente der Maschine festgelegt wird, Objekte schon im Vorfeld zu registrieren, noch bevor diese in die erste Zone geraten, in der sie einen Nothalt bewirken. Die Maschine erhält dadurch die Möglichkeit, eine solche Schutzreaktion auszuwählen, die eine Gefährdung des Objekts bzw. durch das Objekt vermeidet, wobei nach den gegebenen Möglichkeiten ein Eindringen des Objekts in die erste Zone zu vermeiden versucht wird. Je höher die Geschwindigkeit der beweglichen Komponente, die beispielsweise ein Manipulatorarm eines stationär installierten Roboters sein kann, oder, sofern es sich um eine mobile Maschine handelt, der gesamten Maschine ist, desto stärker wird die zweite Zone in Richtung der Geschwindigkeit ausgedehnt, um Objekte schon frühzeitig zu erfassen. Es wird eine enorm gesteigerte Flexibilität der Maschine bezüglich ihrer Einsatzfähigkeit für verschiedenste, auch veränderliche Umgebungen erreicht, da der Eintritt eines Notstopps sofern möglich umgangen wird.The inventive method allows it with the second zone, which in step (c) depending a speed of at least one moving component the machine is set to register objects in advance, even before they get into the first zone, where they have an emergency stop cause. The machine receives thereby the possibility to select such a protective reaction that endangers the Object or by the object avoids, according to the given options trying to avoid intrusion of the object into the first zone becomes. The higher the speed of the moving component, for example a manipulator arm of a stationary installed robot, or, if it is a mobile Machine is the whole machine is, the stronger it gets the second zone in the direction of speed extended to objects already early capture. It becomes a tremendously increased flexibility of the machine in terms of their operational capability for a variety of also changeable Environments reached, since the entrance of an emergency stop avoided if possible becomes.
Die Schutzreaktionen der Maschine können in einem Katalog zusammengefasst sein, aus dem die betreffende Schutzreaktion ausgewählt wird. Beispielsweise kann eine optionale Schutzreaktion in einer Geschwindigkeitsreduktion und/oder einem Anhalten und/oder einer Ausweichbewegung, zu der auch eine Rückwärtsbewegung der Maschine zählt, der wenigstens einen Komponente bestehen.The Protective reactions of the machine can occur in a catalog from which the relevant protective reaction selected becomes. For example, an optional protection reaction in one Speed reduction and / or stopping and / or one Evasive movement, which also includes a backward movement of the machine, the consist of at least one component.
Vorteilhafterweise wird der Schwerpunkt der zweiten zu überwachenden Zone der wenigstens einen bewegten Komponente in ihrer Bewegungsrichtung vorgelagert festgelegt. Auf diese Weise werden schon frühzeitig in die Zone eindringende Objekte registriert. Die Sicherheit wird dadurch erhöht, da die Schutzreaktion frühzeitig ausgelöst wird. Gleichzeitig wird keine Verarbeitungsleistung unnötig zur Überwachung von Raumbereichen aufgewandt, von denen keine Gefährdung ausgeht, weil bekannt ist, dass die Maschine in diese Raumbereiche nicht eindringen wird.advantageously, becomes the center of gravity of the second zone to be monitored at least upstream of a moving component in its direction of movement established. In this way, entering the zone early on Objects registered. The safety is increased because of the protective reaction early triggered becomes. At the same time, no processing power becomes unnecessary for monitoring Spent from areas of space, which pose no danger, because it is known that the machine does not work in these areas will penetrate.
Vorzugsweise ist bei dem Verfahren eine dritte zu überwachende Zone vorgesehen. Wird ein Objekt in dieser dritten zu überwachenden Zone registriert, so wird daraufhin die Geschwindigkeit der wenigstens einen Komponente, also beispielsweise die Geschwindigkeit des Manipulatorarms oder der mobilen Maschine, reduziert. Alternativ oder zusätzlich zur Geschwindigkeitsreduktion kann ein akustisches oder visuelles Warnsignal abgegeben werden. Dabei kann die dritte zu überwachende Zone die erste zu überwachende Zone und/oder die zweite zu überwachende Zone umgeben, um gewissermaßen eine Vorwarnzone zu bilden, in der Objekte erfasst werden, noch bevor sie in die erste oder zweite zu überwachende Zone eindringen können.Preferably In the method, a third zone to be monitored is provided. If an object is registered in this third zone to be monitored, then the speed of the at least one component So for example, the speed of the manipulator arm or the mobile machine, reduced. Alternatively or in addition to Speed reduction can be an audible or visual warning signal be delivered. The third zone to be monitored may be the first to be monitored Zone and / or the second to be monitored Surrounded zone, to some extent to form a pre-warning zone where objects are still detected before entering the first or second zone to be monitored can.
Mit dem erfindungsgemäßen Verfahren kann das Objekt vorteilhaft als Person erkannt werden. Nach Erkennen des Objekts als Person kann eine Bewegung der Person verfolgt und auf grund dieser Bewegung ein geeignetes Ausweichmanöver für die Maschine geplant und ausgeführt werden. Dabei läßt sich eine Bewegungsabsicht der Person beispielsweise durch Erfassen ihrer Blickrichtung oder durch ein Tracking der Trajektorie erkennen. Ein solches Verfahren wird vorzugsweise dann eingesetzt, wenn die Aufgabe der Maschine darin besteht, mit Personen zu interagieren, indem sie der Person beispielsweise ein Werkstück übergibt oder von ihr entgegennimmt, da sich mit ihm zwischen gewollten und ungewollten Annäherungen der Person unterscheiden läßt.With the method according to the invention, the object can advantageously be recognized as a person. After recognizing the object as a person, a movement of the person can be tracked and based on this movement, a suitable evasive maneuver for the machine planned and executed. In this case, a movement intent of the person example wise recognize by detecting their line of sight or by tracking the trajectory. Such a method is preferably used when the task of the machine is to interact with persons, for example, by giving the person a workpiece or receives from it, since it can be distinguished between intentional and unwanted approaches of the person.
Um der Person bei gewollten Annäherung ein Eindringen in die Zone zu erlauben, wird wenigstens ein Feld aus wenigstens einer der Zonen ausgeblendet. Bevorzugterweise wird das auszublendende Feld mit Polyedern maskiert.Around the person at intended approach Allowing entry into the zone will result in at least one field at least one of the zones hidden. Preferably, the masked field with polyhedra masked.
Zur weiteren Erhöhung der Sicherheit werden die Schutzreaktionen auch dann veranlasst, wenn die Überwachung der ersten und/oder zweiten und/oder dritten Zone ausfällt.to further increase In the case of safety, the protective reactions are also initiated when The supervision the first and / or second and / or third zone fails.
Nachfolgend wird die Erfindung anhand von Zeichnungen näher erläutert.following The invention will be explained in more detail with reference to drawings.
Dabei zeigen:there demonstrate:
Zur
Erläuterung
der Erfindung wird in den Figuren ein autonom fahrender Roboter
Das
Fahrgestell
Der
Roboter ist mit einer Sensorik zum Wahrnehmen seiner Umgebung ausgestattet,
die ein oder mehrere Kameras, z. B. eine an einem Mast erhöht über dem
Fahrgestell montierte katadioptrische Kamera
Eine
der ersten Zone entsprechende innerste Zone
Um
die Schutzzone 10 herum erstreckt sich eine Überwachungszone
Schließlich ist
noch eine der dritten Zone entsprechende Warnzone
Die Überwachungszone
Beabsichtigt
der Roboter beispielsweise eine Rechtsdrehung auszuführen, so
werden die Überwachungszone
Mit
der Kamera
Die
Entsicherungszone
Selbstverständlich kann
eine Übergabe
eines Werkstücks
vom Roboter
Claims (14)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE2003124627 DE10324627A1 (en) | 2003-05-28 | 2003-05-28 | Working space monitoring for automated operating machines involves monitoring speed-dependent second zone for object penetration, preventing object from entering first zone if detected in second zone |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE2003124627 DE10324627A1 (en) | 2003-05-28 | 2003-05-28 | Working space monitoring for automated operating machines involves monitoring speed-dependent second zone for object penetration, preventing object from entering first zone if detected in second zone |
Publications (1)
Publication Number | Publication Date |
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DE10324627A1 true DE10324627A1 (en) | 2005-01-05 |
Family
ID=33494775
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DE2003124627 Withdrawn DE10324627A1 (en) | 2003-05-28 | 2003-05-28 | Working space monitoring for automated operating machines involves monitoring speed-dependent second zone for object penetration, preventing object from entering first zone if detected in second zone |
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DE (1) | DE10324627A1 (en) |
Cited By (32)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102005011143A1 (en) * | 2005-03-10 | 2006-09-14 | Sick Ag | Device for controlling safety relevant function of robot or machine tool has means to change contour of safety area depending on displacement, position and operational data and on transmitted control data of robot or machine tool |
WO2006126591A1 (en) | 2005-05-24 | 2006-11-30 | Honda Motor Co., Ltd. | Work station |
DE102005027522A1 (en) * | 2005-06-15 | 2006-12-21 | Heiligensetzer, Peter, Dr. | Device e.g. industrial robot, control method, involves obtaining danger area by comparing sensor data with threshold value, where area and value depends on position and/or temporal change of position of unit comprising sensor |
WO2008014909A1 (en) * | 2006-07-31 | 2008-02-07 | Pilz Gmbh Co. Kg | Camera-based monitoring of machines with moving machine elements for the purpose of collision prevention |
DE102007037077A1 (en) * | 2007-08-06 | 2009-02-12 | Kuka Roboter Gmbh | Work space border observing method for e.g. industrial robot, involves adjusting speed course of movement of robot until speed of robot is maintained to preset value, which does not exceed maximum speed, when pose is reached |
DE102007037078A1 (en) * | 2007-08-06 | 2009-02-12 | Kuka Roboter Gmbh | Work space border observing method for e.g. industrial robot, involves determining pose of working unit from robot movement course and stopping robot when point of space outline of unit penetrates into border zone |
EP2048557A1 (en) * | 2007-10-11 | 2009-04-15 | Sick Ag | Optoelectronic sensor and mobile device and configuration method |
EP2113344A1 (en) | 2008-04-30 | 2009-11-04 | KUKA Roboter GmbH | Method and device for monitoring a manipulator |
WO2010063319A1 (en) * | 2008-12-03 | 2010-06-10 | Abb Research Ltd. | A robot safety system and a method |
EP2030741A3 (en) * | 2007-08-27 | 2010-12-01 | Fanuc Ltd | Robot controller having stoppage monitoring function |
DE102010011475A1 (en) | 2010-03-16 | 2011-09-22 | Jens Mehnert | Method for operating machine door, involves determining geometric structural condition of operating device of machine |
DE102012007242A1 (en) * | 2012-03-09 | 2013-09-12 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Monitoring system for ensuring cooperation between worker and robot in human robot cooperation system, has control unit that controls robot using position of worker and region crossed by worker and robot in and/or from danger area |
EP2639661A1 (en) * | 2012-03-15 | 2013-09-18 | Omron Corporation | Apparatus for controlling power source |
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EP2838698B1 (en) | 2012-07-10 | 2016-05-04 | Siemens Aktiengesellschaft | Robot arrangement and method for controlling a robot |
DE102014222857A1 (en) * | 2014-11-10 | 2016-05-12 | Kuka Roboter Gmbh | Flexible time-optimized sharing of a working space for robots |
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DE102015001575A1 (en) * | 2015-02-07 | 2016-08-11 | Audi Ag | Method and device for visualizing the movement of a robot |
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2003
- 2003-05-28 DE DE2003124627 patent/DE10324627A1/en not_active Withdrawn
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DE102005011143A1 (en) * | 2005-03-10 | 2006-09-14 | Sick Ag | Device for controlling safety relevant function of robot or machine tool has means to change contour of safety area depending on displacement, position and operational data and on transmitted control data of robot or machine tool |
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CN103309377A (en) * | 2012-03-15 | 2013-09-18 | 欧姆龙株式会社 | Apparatus for controlling power source |
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