KR102520214B1 - A method for driving a collaborative robot capable of preemptive response and a system therefor - Google Patents

Abstract

The present invention relates to a method of driving a cooperative robot capable of preemptive response and a system therefor. In more detail, the present invention relates to the method of driving a cooperative robot capable of proactive response and the system therefor in which a collaborative robot performs fault diagnosis and operation correction before performing work, and also can be driven to avoid surrounding movements during driving. The method of driving a cooperative robot includes a step of identifying a positional accuracy of the collaborative robot in real time by a first position detection sensor when the collaborative robot is driven to diagnose a failure.

Description

A method for driving a collaborative robot capable of preemptive response and a system therefor

The present invention relates to a method for driving a collaborative robot capable of preemptively responding and a system therefor. More specifically, a method and system for driving a collaborative robot capable of preemptively responding by diagnosing faults and correcting the operation before the cooperative robot performs work, and avoiding the movement of the surroundings during driving, so that the cooperative robot can be driven. it's about

Many experts have predicted that a society where humans and robots coexist will come with the 4th industrial revolution and the development of advanced technology.

Current robot technology is capable of performing tasks that require precision and accuracy, such as in industry, agriculture, and service industries, as well as performing simple labor such as imitating tasks that people can do or lifting and moving. developed.

Unlike humans, whose physical strength is depleted during labor, robots were able to perform the roles mentioned above because of the robot's ability to complete given tasks until there is drive control with only input data and supplied energy (e.g., electrical energy). Maybe it's because of the features.

In addition, unlike humans who can make mistakes during work due to trivial emotions or psychological states, robots do not make mistakes during work because they are driven based on input data. It is possible to perform more precise and accurate work by learning the input driving data by itself or identifying surrounding objects.

However, unlike humans, robots do not have sensory functions and cannot preemptively respond to preventable situations. As a specific example, unlike humans, robots have difficulty self-determining whether the main body is ready for work or whether there are any inconveniences in the current state of the robot before starting work, or it is difficult to resolve uncomfortable parts on its own, and it is difficult to prevent unexpected accidents that occur during work. It was difficult to deal with situations (eg someone in the next workspace being disturbed).

The present invention was derived in view of the above problems, and it is possible to solve the above technical problems, as well as to provide additional technical elements that cannot be easily devised by those skilled in the art. It became.

According to the present invention, before the collaborative robot performs a specific task, it is determined whether the collaborative robot is out of order or whether there is an error in driving to perform the specific task, and if it is out of order or there is an error in driving, it is corrected to perform the above task. It is an object to provide a method for performing a specific task and a system therefor.

In addition, when the cooperative robot sequentially performs the first driving and the second driving for a specific task, the present invention implements a path or a second driving that must be moved to perform the second driving before performing the second driving. An object of the present invention is to provide a method and a system for performing a preemptive response by first identifying whether there is an obstacle in the movement radius of a collaborative robot when performing a collaborative robot.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

In order to solve the above problems, a method for driving a cooperative robot capable of preemptively responding according to the present invention (a) when the cooperative robot is driven for fault diagnosis, the first position sensor detects the motion of the cooperative robot in real time. Step of determining the positional accuracy; (b) if the positional accuracy of the collaborative robot does not fall within a preset error range, allowing the collaborative robot to perform a first drive for work; (c) the cooperative robot Before performing the second drive for work, detecting, by a second position sensor, a motion around the collaborative robot movement path corresponding to the second drive; and The method may include performing a second drive by the collaborative robot when no movement is detected in the movement path of the collaborative robot corresponding to the second driving.

In addition, the location accuracy is characterized in that the degree of similarity is calculated by comparing and analyzing the standard position to be located when the collaborative robot is performing a task and the position of the cooperative robot when the cooperative robot is driven for fault diagnosis. can be done with

In addition, the first position detection sensor is disposed adjacent to the cooperative robot and is a camera that detects the movement and position of the cooperative robot by recognizing at least one IR marker attached to the cooperative robot. can

In addition, the second position detection sensor is a device including at least one 3D lidar or depth camera, and is disposed adjacent to the cooperative robot or on the cooperative robot to detect the movement or position of a moving object in real time. It can be characterized as being.

In addition, after the step (a), (a-1) if the positional accuracy of the collaborative robot falls within a preset error range, failure information to the robot server-the failure information includes an identification code of the collaborative robot, or information including at least one error range - requesting driving correction by transmitting and, when the cooperative robot receives driving correction information from the robot server, the cooperative robot re-executes driving for fault diagnosis It may further include steps to do so.

In addition, after step (c), (c-1) when the second position detection sensor detects a movement around the cooperative robot in the movement path corresponding to the second drive, the voice generator of the cooperative robot warns. A step of outputting a voice may be further included.

In addition, after the step (c), (c-1′), when the second position detection sensor detects a peripheral movement in the movement path of the collaborative robot corresponding to the second drive, the cooperative robot changes its axis. A step of determining whether or not a collaborative robot is possible. (c-2′) if it is determined that the collaborative robot is capable of axis change, determining whether or not the cooperative robot can drive to avoid the surrounding movement; and (c-3′) the cooperative robot When it is determined that the avoidance driving for the surrounding movement is possible, the method may further include allowing the collaborative robot to perform avoidance driving for the surrounding movement.

Meanwhile, in order to solve the above problems, the cooperative robot driving system according to the present invention includes a communication unit capable of exchanging data with a robot server and transmitting failure information to the robot server; a sensor unit generating sensing information by detecting a position and movement of the collaborative robot or sensing an object around the cooperative robot; an obstacle recognizing unit recognizing an object or a person based on the sensing information generated by the sensor unit; a path creation unit generating a movement path of the collaborative robot necessary when the collaborative robot performs a task; a driving control unit that controls driving of the cooperative robot or a robot arm provided in the cooperative robot; and a voice ignition unit outputting a warning voice. Including, a cooperative robot having at least one IR marker attached to its outer surface, a location adjacent to the collaborative robot or disposed on the cooperative robot, and recognizing at least one IR marker attached to the cooperative robot to move the cooperative robot. and a first position detection sensor for detecting a position, a position adjacent to or disposed on the cooperative robot, and a second position detection sensor for detecting the movement or position of a moving object in real time and the failure information from the cooperative robot. Upon reception, it may include a robot server that analyzes the failure information to generate drive correction information and transmits the drive correction information to the cooperative robot.

According to the present invention as described above, the cooperative robot performs fault diagnosis and operation before performing a specific task, thereby identifying in advance a failure or an error in driving, thereby improving the completeness of the work and providing high-quality work. There is an effect that can produce a result.

In addition, before performing the second driving after the first driving, it is first determined whether there is an obstacle in the path along which the collaborative robot moves to perform the second driving or the movement radius of the cooperative robot when performing the second driving, and By implementing a preemptive response, there is an effect of preventing problems that may occur during work (e.g., accidents, failures, defects) in advance, and furthermore, an effect of enabling cooperative work between the collaborative robot and the user there is.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

1 is a diagram for conceptually understanding a cooperative robot driving system capable of preemptively responding according to a first embodiment of the present invention.
2 is a diagram for conceptually understanding failure information and driving correction information according to the present invention.
FIG. 3 is a diagram illustrating a process in which the collaborative robot according to the first embodiment of the present invention drives through a preemptive response.
4 is a perspective view showing a collaborative robot according to a first embodiment of the present invention.
Fig. 5 is a simple schematic diagram showing the overall configuration of a cooperative robot driving system capable of preemptively responding according to the first embodiment of the present invention.
6 is a diagram specifically showing a method for driving a collaborative robot capable of preemptively responding according to the first embodiment of the present invention.
7 is a diagram specifically illustrating a method for driving a cooperative robot capable of preemptively responding according to a second embodiment of the present invention.
8 is a diagram specifically showing a method for driving a collaborative robot capable of preemptively responding according to a third embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Advantages and features of the present invention, and methods for achieving them, will become clear with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only the present embodiments make the disclosure of the present invention complete, and common knowledge in the art to which the present invention belongs. It is provided to fully inform the holder of the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numbers designate like elements throughout the specification.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used in a meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless explicitly specifically defined. Terms used in this specification are for describing embodiments and are not intended to limit the present invention. In this specification, singular forms also include plural forms unless specifically stated otherwise in a phrase.

Terms such as "first" and "second" are used to distinguish one component from another, and the scope of rights should not be limited by these terms. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element.

As used herein, "comprises" and/or "comprising" means that a stated component, step, operation, and/or element is one or more other components, steps, operations, and/or elements. Existence or additions are not excluded.

<First Embodiment>

1 is a diagram for conceptually understanding a cooperative robot driving system capable of preemptively responding according to a first embodiment of the present invention.

Referring to FIG. 1 , the cooperative robot driving system capable of preemptively responding according to the first embodiment of the present invention (hereinafter referred to as the cooperative robot driving system 10) When driving for fault diagnosis is performed (①), the first position detection sensor 300 disposed adjacent to the cooperative robot 100 determines the positional accuracy of the cooperative robot 100 (②), and the cooperative robot ( When the positional accuracy of 100) does not fall within a preset error range, the first drive capable of performing the above task is performed by the collaborative robot 100, and the positional accuracy of the collaborative robot 100 is within the preset error range. If it falls within the range, the robot server 200 generates driving correction information capable of correcting the driving within the error range and transmits it to the cooperative robot 100 (③), and the cooperative robot 100 performs the corrected driving. It relates to a system that allows the collaborative robot 100 to perform accurate and precise work by (④).

For reference, the term 'preemptive response' in the present invention means that when the collaborative robot 100 of the present invention tries to perform a certain task, an error in driving or a problem situation due to an obstacle is encountered, in advance that erroneous driving will be performed. It can be said that it is possible to perform more accurate and precise driving by grasping or predicting and correcting the driving of the collaborative robot 100 based on the identified data. Specifically, conventional robots that perform specific tasks have brought convenience to users with precise and accurate driving that humans could not do, but the driving performed by these robots operated only based on data input by users. It was difficult to deal with unexpected problems (contact with obstacles, driving errors, etc.) that occurred during work, and it was difficult to preemptively respond to preventable problems, and the drive was corrected after the problems occurred. Because the work is not done uniformly, the conventional robots are used only for very passive tasks or do not properly perform tasks performed through cooperation with users, so the present invention is a cooperative robot 100 By enabling the cooperative robot 100 to perform tasks more actively or interact with users by preemptively responding to events such as failures, errors, and encountering problematic situations due to obstacles that occur when a specific task is to be performed. To enable work to be done collaboratively.

Prior to examining in detail the method for driving a cooperative robot capable of preemptively responding and the system therefor according to the first embodiment of the present invention, terms frequently mentioned in the present invention will be briefly reviewed first.

2 is a diagram for conceptually understanding failure information and driving correction information according to the present invention.

The cooperative robot system 10 according to the first embodiment of the present invention checks whether or not the cooperative robot 100 can properly perform the specific job before executing the specific job, or the cooperative robot 100 does not break down. In order to diagnose whether or not the problem occurred, the collaborative robot 100 performs a fault diagnosis drive. The failure diagnosis drive referred to herein may refer to a simulation drive in which a drive for performing a task of the collaborative robot 100 is previously performed before an actual task is performed.

Referring to FIG. 2 , when the cooperative robot 100 performs a fault diagnosis drive, the first position detection sensor 300 disposed adjacent to the cooperative robot 100 is an IR marker attached to the outer surface of the cooperative robot 100. By recognizing 103 and detecting the motion or posture of the cooperative robot 100, the positional accuracy of the cooperative robot 100 is identified, and failure information is generated based on this. Specifically, when it is assumed that the standard driving 'A' drive must be performed in order for the collaborative robot 100 to perform the task of lifting the cup, the cooperative robot 100 performs the 'B' driving by fault diagnosis driving. If so, the first position detection sensor 300 not only recognizes the 'B' drive of the collaborative robot 100, but also compares and analyzes the 'B' drive and the standard 'A' drive to determine the positional accuracy for the fault diagnosis drive. Find out (①). At this time, when the first position detection sensor 300 determines that the positional accuracy of the cooperative robot 100 falls within a preset error range, fault information is generated.

The positional accuracy referred to herein is the difference between the standard position or posture (A) that the collaborative robot 100 should be positioned at when performing work and the cooperative robot 100 when the cooperative robot 100 drives for fault diagnosis. It can be said that the degree of similarity was calculated by comparing and analyzing the position or posture (B).

Meanwhile, the failure information referred to herein may refer to information including at least one identification code (UUID) of the cooperative robot and an error range. The reason why the identification code (UUID) of the collaborative robot 100 is included in the failure information is to allow the robot server 200 to quickly diagnose a failure of the corresponding collaborative robot 100 . Specifically, driving data for performing a specific task may be input or learned in each of the plurality of collaborative robots 100, and when the robot server 200 diagnoses a failure of the corresponding collaborative robot 100, the plurality of collaborative robots 100 This is because identifying the cooperative robot 100 itself rather than individually identifying drive data of the robot 100 can quickly diagnose a failure of the cooperative robot 100 .

Referring back to FIG. 2 , after the failure information is generated, the first position detection sensor 300 or the collaborative robot 100 receiving the failure information generated from the first position detection sensor 300 transmits the failure information to the robot. It is transmitted to the server 200, and the robot server 200 generates drive correction information based on the received failure information and transmits it to the cooperative robot 100 (③).

The drive correction information referred to herein is when the robot server 100 receives failure information from the first detection sensor 300 or the collaborative robot 100, the robot server 100 analyzes the failure information, and the current cooperative robot 100 Information generated to solve the reason for the failure by deriving the reason for the failure (eg, power shortage, defective part of the collaborative robot, etc.) or information that can solve the driving error can be referred to. Referring to FIG. 2 for a specific example, the collaborative robot 100 carrying out the task of moving the cup needs to perform 'A' drive to lift the cup, but 'B' drive that cannot lift the cup in the fault diagnosis drive. When it is assumed that it is executed, the robot server 200 receives the failure information for the 'B' drive so that the collaborative robot 100 can perform the 'A' drive, the error between the 'A' drive and the 'B' drive. Alternatively, by analyzing problems in the configuration of the collaborative robot 100 (robot arm 102: see Fig. 4, axis 101: see Fig. 4, etc.), 'drive correction that the robot arm 102 must be calibrated at the θ1 angle' Information' or 'drive correction information indicating that the n-th axis 101 of the collaborative robot 100 should be corrected at the θ2 angle' may be generated.

FIG. 3 is a diagram showing a process of driving the collaborative robot 100 according to the first embodiment of the present invention through a preemptive response.

The cooperative robot driving system 10 according to the first embodiment of the present invention provides a peripheral movement ( Ex. movement of an obstacle) is detected so that a warning voice can be output.

Referring to FIG. 3, the collaborative robot 100, which sequentially performs the 'first drive' of lifting the cup at site A and the 'second drive' of moving the lifted cup to site B, is the 'first drive'. ' (①), the second position detector 400 associated with the collaborative robot 100 moves around the moving path of the collaborative robot 100 corresponding to the 'second drive' (eg, user body) is detected (②), the detected information is transmitted to the collaborative robot 100 so that the collaborative robot 100 can output a warning voice such as "be careful" (③).

Above, terms frequently mentioned in the present invention were first briefly reviewed.

Next, a schematic appearance of the collaborative robot 100 according to the first embodiment of the present invention and all components included in the cooperative robot 100 will be described.

4 is a perspective view showing the collaborative robot 100 according to the first embodiment of the present invention.

Referring to FIG. 4 , the collaborative robot 100 according to the first embodiment of the present invention is a robot designed to precisely and accurately perform a specific task or to perform a task in cooperation with a user.

The collaborative robot 100 may include at least one axis 101, a robot arm 102, and an IR marker 103 in order to perform the above roles.

A plurality of axes 101 are provided, and the plurality of axes 101 are capable of different driving (up/down/left/right driving, rotational driving), so that the collaborative robot 100 can move in six degrees of freedom (Six Degrees of Freedom). degrees of freedom (6DOF).

In addition, unlike the conventional robot arm (not shown) composed of up to six axes, the axis 101 of the cooperative robot 100 of the present invention is composed of seven or more axes, so that the target position is more detailed and precise. It allows entry at an angle, and enables the collaborative robot 100 to perform driving with a higher degree of freedom, such as obstacle avoidance driving and taking a specific pose.

The robot hand 102 is a component that performs a role similar to that of a user's hand. Specifically, the robot hand 102 can grip, pull, or carry an object, and thus perform a role similar to that of a user's hand, thereby performing cooperative tasks like the user.

The robot hand 102 can perform difficult tasks requiring precision in cooperation with the user. Specifically, the robot hand 102 can perform tasks requiring precision, such as medical procedures, cooking, assembly, or processing, and can perform these tasks in cooperation with a user.

The robot hand 102 may have a shape suitable for the purpose of the work to be performed in order to perform the above tasks. For example, when the robot hand 102 performs a medical procedure, it may represent a shape of a medical instrument such as a cutable surgical tool, a biopsy tool, or a screwdriver, rather than the shape of a user's hand.

The IR marker 103 is recognized through the first position detection sensor 300 by a reflector included inside or attached to the outer surface.

The reflector has a property of reflecting light recognizable by a specific device when light of a special wavelength is irradiated, so that when the IR marker 103 is photographed by the first position detection sensor 300, it reflects the light irradiated and IR The position of the marker 103 is recognized.

The reflector may be provided in a configuration included inside the IR marker 103, but may also be implemented to be detachable from the surface by the user. At this time, the user can arbitrarily adjust the position of the reflector on the surface of the IR marker 103 by attaching or detaching it.

Fig. 5 is a simple schematic diagram showing the overall configuration of the collaborative robot driving system 10 capable of preemptively responding according to the first embodiment of the present invention.

Referring to FIG. 5 , the cooperative driving system 10 of the present invention may include a cooperative robot 100, a robot server 200, a first position detection sensor 300 and a second position detection sensor 400. .

The collaborative robot 100 not only includes the above-described axis 101, robot hand 102, and IR marker 103, but also includes a communication unit 110 and a sensor unit in order to perform 'preemptive response driving', which is the purpose of the present invention. 120, an obstacle recognizing unit 130, a path generating unit 140, a drive control unit 150, and a voice ignition unit 160 may be further included.

The communication unit 110 allows the collaborative robot 100 to connect the user terminal (eg, the user's smartphone, desktop, etc.), the robot server 200, the first position detection sensor 300 or the second position detection sensor 00 and data. It is a component designed to be interchangeable. Specifically, the communication unit 110 may receive information on drive data for enabling the collaborative robot 100 to perform a specific drive from the user terminal 200 or receive control information such as power on/off. , Failure information may be transmitted or driving correction information may be received from the robot server 200, and information detected by the first and second position detection sensors 300 and 400 may be received.

Like the first and second position detection sensors 300 and 400 described above, the sensor unit 120 detects the position and movement of the cooperative robot 100 or detects objects around the cooperative robot to generate sensing information. is an element In other words, the first and second position detection sensors 300 and 400 may be provided as one component of the cooperative robot 100, rather than being installed adjacent to the cooperative robot 100.

The obstacle recognizing unit 130 is a component that recognizes obstacles that appear/occur immediately when the collaborative robot 100 drives for work, and prevents collision with the obstacles.

The obstacle recognizing unit 130 recognizes an obstacle by utilizing an AI object identification algorithm. Here, the AI object identification algorithm may refer to an algorithm capable of recognizing whether an object identified by classifying and identifying an object based on learned image data is an obstacle. As an easy example, when it is assumed that the collaborative robot 100 needs to drive to lift a cup, the AI object identification algorithm learns about the image data of the cup and the user's body (eg, hand), and during driving, the cup and the user's body If is captured, it can be identified separately as a work object and an obstacle, respectively.

If the cooperative driving system 10 of the present invention can predict or prevent a failure or collision with an obstacle in advance through preemptive response, through the obstacle recognition unit 130 of the cooperative robot 100, collision can be prevented.

The path generator 140 receives information about the current position and attitude of the collaborative robot 100 by utilizing the Lidar technology of the sensor unit 120 or the second position detection sensor 400 associated with the collaborative robot 100. And, based on the received data, it is a component that creates a path along which the collaborative robot 100 should move to perform a specific task.

For reference, the path generated by the path generator 140 may be updated and updated in real time when the collaborative robot 100 receives driving correction information from the robot server 200 .

The driving control unit 150 controls the driving of the collaborative robot 100 based on the learned driving data or the corrected driving information received from the robot server 200 in order to drive the cooperative robot 100 to perform a specific task. is a component

The voice utterance unit 160 is a component that utilizes text to speech (TTS) technology, and when a specific situation is detected, it can convert text data matched to the specific situation into voice data and output the converted voice data. there is. For example, when the first and second position detection sensors 300 and 400 detect surrounding movement while the collaborative robot 100 is driving, the voice generator 160 sends text matching the situation. By converting the data into voice data, it is possible to output a voice saying “Be careful”.

The robot server 200 is a server that can collectively control at least one or more identifiable cooperative robots 100 .

The robot server 200 cooperates with information for correcting the driving of the collaborative robot 100 when the cooperative robot 100 drives for a specific task, or when the driving itself is incomplete. It can be transmitted to the robot 100. In other words, when receiving failure information from the collaborative robot 100 or the first position detection sensor 300, the robot server 200 generates drive correction information for correcting the driving of the collaborative robot 100 based on the failure information. It can be created and transmitted to the collaborative robot 100.

The first position detection sensor 300 is a sensor that is disposed adjacent to the cooperative robot 100 and can sense the motion or position of the cooperative robot 100 in real time.

The first position detection sensor 300 includes a camera for capturing an image of a subject in order to detect the motion or position of the collaborative robot 100, and an IR capable of detecting the IR marker 103 attached to the outer surface of the cooperative robot 100. A camera and a motion tracking camera capable of detecting the motion of the collaborative robot 100 itself may be included.

The second position detection sensor 400 is disposed adjacent to the collaborative robot 100 and detects obstacles such as a moving user's body or an object in real time when the cooperative robot 100 drives for a specific task. It is a sensor.

The second position detection sensor 400 may include a 3D lidar sensor and/or a depth camera for detecting a motion or position of an object in a 3D space in order to detect a moving obstacle in real time.

For reference, the second position detection sensor 400 does not simply detect obstacles around the collaborative robot 100, but whether the detected object is the cooperative robot 100, an obstacle, or a subject that is not an obstacle target (eg, a user). Perception can be identified to detect surrounding movement.

So far, the schematic appearance of the collaborative robot 100 according to the first embodiment of the present invention and the entire components included in the cooperative robot 100 have been reviewed.

Next, the method for driving a cooperative robot capable of preemptively responding according to the first to third embodiments of the present invention will be examined in detail.

6 is a diagram specifically showing a method for driving a collaborative robot capable of preemptively responding according to the first embodiment of the present invention.

Referring to FIG. 6 , in the method for driving a cooperative robot capable of preemptively responding according to the first embodiment of the present invention, when the cooperative robot 100 first performs a fault diagnosis drive, the first position sensor 300 cooperates It starts at the step of determining the positional accuracy of the robot (S101). Here, the positional accuracy refers to the standard position or posture that the collaborative robot 100 should be positioned in when performing work and the position or posture of the cooperative robot 100 when the cooperative robot 100 is driven for fault diagnosis. It can be said that the degree of similarity was calculated by comparative analysis.

Subsequently, when the positional accuracy of the collaborative robot 100 does not fall within a preset error range, the cooperative robot performs a first drive for work (S102). Here, the error range may refer to a driving range in which the cooperative robot 100 is unlikely to perform the driving properly or causes instability to the overall work procedure when the collaborative robot 100 performs any driving, and the preset error range is the user (user) It may refer to the error range set directly under the person's judgment or the error range analyzed by the robot server 100 through the AI learning algorithm.

Steps S101 and S102 allow the collaborative robot 100 to perform a fault diagnosis drive before actually performing the work, so that the actual work is properly completed and problems with failures, defects, or driving errors can be prevented in advance. It can be seen as the first preemptive response' step.

Next, before the collaborative robot 100 performs the second drive, the second position detection sensor 400 detects movement around the moving path corresponding to the second drive (S103). Here, the second drive may refer to a drive performed after the first drive of step S102 among all drives of the collaborative robot 100 for completing a specific task.

Thereafter, when a peripheral motion is not detected on the movement path of the cooperative robot 100 corresponding to the second driving by the second position sensor 400, the cooperative robot performs the second driving (S104).

Steps S103 and S104 are the moving path or the second drive that the collaborative robot 100 must enter to perform the second drive after the first drive and before the second drive is sequentially performed. The second drive is properly completed by detecting the surrounding movement in the movement radius at the time of performing, and preventing collision with an obstacle in advance when the second drive is performed or in a moving situation before the second drive is performed It can be seen as the 'second preemptive response' stage.

<Second Embodiment>

7 is a diagram specifically illustrating a method for driving a cooperative robot capable of preemptively responding according to a second embodiment of the present invention.

If the aforementioned cooperative robot driving method capable of preemptively responding according to the first embodiment of the present invention described above is the cooperative robot driving method capable of preemptively responding mainly to the cooperative robot driving system 10, the second embodiment of the present invention In order to explain the method for driving a cooperative robot capable of preemptively responding according to the present invention in a more expanded range, the components in the cooperative robot driving system 10 are described as another subject. It is a cooperative robot driving method that can respond.

Referring to FIG. 7 , in the method for driving a collaborative robot capable of preemptively responding according to the second embodiment of the present invention, first, the cooperative robot 100 performs a fault diagnosis operation (S201), and then the first position sensor 300 [0081] The step S202 of determining the positional accuracy of the collaborative robot 100 that performs the fault diagnosis operation begins.

In step S202, the first position detection sensor 300 detects the movement of the cooperative robot 100 through a motion tracking camera or recognizes the IR marker 103 attached to the cooperative robot 100 through an IR camera to recognize the cooperative robot 100. The positional accuracy of the collaborative robot 100 can be grasped by detecting the motion and position of the robot 100 .

Thereafter, the collaborative robot 100 determines whether the position accuracy determined by the first position detection sensor 300 is included in a preset error range (S203), and if the position accuracy is not included in the preset error range, the first position accuracy is not included in the preset error range. Driving is performed (S204).

On the other hand, when the collaborative robot 100 determines whether the positional accuracy identified by the first position sensor 300 is within the preset error range (S203), if the positional accuracy is within the preset error range, the collaborative robot (100) generates failure information and transmits it to the robot server 200 (S203-1), and the robot server 200 generates driving correction information based on the received failure information (S203-2) and the cooperative robot ( 100) transmits the driving correction information to the cooperative robot 100 so that the corrected driving can be performed (S203-3).

After step S204, the second position detection sensor 400 monitors whether or not movement around the moving path corresponding to the second driving performed after the first driving is detected (S205).

Next, the collaborative robot 100 determines whether or not motion of the surroundings is sensed from the second position detection sensor 400 (S206).

Thereafter, when the collaborative robot 100 does not receive the fact that the surrounding movement has been detected from the second position detection sensor 400, a second drive is performed (S207).

On the other hand, when the fact that the collaborative robot 100 has detected the surrounding movement is received from the second position detection sensor 400, the cooperative robot 100 outputs a warning voice (S206-1) and the cooperative robot 100 It is prevented from colliding with the surrounding motion (eg, an obstacle), and thereafter, the second position sensor 400 returns to step S205 and monitors whether the surrounding motion is detected in the movement path corresponding to the second drive.

<Third Embodiment>

8 is a diagram specifically showing a method for driving a collaborative robot capable of preemptively responding according to a third embodiment of the present invention.

In the method for driving a collaborative robot capable of preemptively responding according to the third embodiment of the present invention, when the second position detection sensor 400 detects movement around the movement path corresponding to the second driving after step S205 described above, In addition to the method in which the collaborative robot 100 outputs a warning voice to prevent collision with surrounding movements, if the collaborative robot 100 meets certain conditions, the collaborative robot 100 performs avoidance driving to prevent collision with surrounding movements. It's about how to prevent it.

Referring to FIG. 8 , in the method for driving a cooperative robot capable of preemptively responding according to the third embodiment of the present invention, after step S205, the cooperative robot 100 determines whether the second position sensor 400 detects the surrounding movement. It starts with the step of determining about (S301).

Next, if the fact that the collaborative robot 100 has detected the surrounding movement is not received from the second position sensor 400, the second drive is performed (S304), but the cooperative robot 100 moves to the second position. When receiving the fact that the surrounding movement has been detected from the sensor 400, the cooperative robot 100 determines whether the axis 101 can be changed by itself (S302).

Step S302 is the first step of determining whether the collaborative robot 100 can perform an avoidance drive for the detected obstacle, and is a step of determining whether the collaborative robot 100 is a robot capable of changing the axis 101 by itself, or The robot server 200 may receive an identification number (UUID) from the cooperative robot 100 and determine whether the axis 101 of the corresponding cooperative robot 100 can be changed.

After step S302, if the cooperative robot 100 itself is a robot capable of changing the axis 101, it is determined whether the cooperative robot 100 can perform avoidance driving through the change of the axis 101 (S303), and the cooperative robot ( 100) If the robot itself cannot change the axis 101, a warning voice is output (S302-1).

Step S303 is the second step of determining whether the collaborative robot 100 can perform an avoidance drive for the detected obstacle. This step is performed considering that avoidance driving cannot be performed due to space). In addition, in step S303, as in step S302, the cooperative robot 100 determines whether current avoidance driving is possible by itself, or the robot server 200 receives an identification number (UUID) from the cooperative robot 100, and the corresponding cooperative robot 100 ) may be a step of determining whether avoidance driving is currently possible.

After step S303, the collaborative robot 100 performs a second driving if avoidance driving is currently possible (S304), and if avoidance driving is currently impossible, the cooperative robot 100 outputs a warning voice (S302-1).

All of the embodiments of the cooperative robot driving method capable of preemptive response and the system therefor have been reviewed.

The present invention is not limited to the specific embodiments and application examples described above, and various modifications can be made by those skilled in the art without departing from the gist of the present invention claimed in the claims. Of course, these modified implementations should not be understood separately from the technical spirit or perspective of the present invention.

10: cooperative robot drive system
100: collaborative robot
101 axis
102: robot hand
103: IR marker
110: communication department
120: sensor unit
130: obstacle recognition unit
140: path generation unit
150: drive control unit
160: voice ignition unit
200: robot server
300: first position detection sensor
400: second position detection sensor

Claims (8)

A method for driving a collaborative robot capable of preemptive response by a cooperative robot driving system,
(a) When the cooperative robot drives for fault diagnosis, the first position sensor detects the positional accuracy of the cooperative robot in real time - the positional accuracy is the standard for the cooperative robot to be positioned when performing work. Comparing and analyzing the position of the cooperative robot and the position of the cooperative robot when driving for fault diagnosis, and calculating a degree of similarity - figuring out;
(a-1) If the positional accuracy of the collaborative robot falls within a preset error range, failure information to the robot server - The failure information is information including the identification code (UUID) and error range of the collaborative robot - requesting driving correction by sending a;
(a-2) when the cooperative robot receives driving correction information from the robot server, causing the cooperative robot to re-execute driving for fault diagnosis;
(b) if the location accuracy of the cooperative robot does not fall within a preset error range as a result of re-executing the driving for fault diagnosis, allowing the cooperative robot to perform a first driving for work;
(c) before the collaborative robot performs the second driving for work, detecting, by a second position sensor, a movement around the collaborative robot movement path corresponding to the second driving;
(c-1′) determining whether the collaborative robot is a cooperative robot capable of axis change when the second position detection sensor detects a peripheral movement in the movement path of the cooperative robot corresponding to the second drive step;
(c-2') if it is determined that the cooperative robot is capable of axis change, determining whether the cooperative robot can drive avoidance of the surrounding movement;
(c-3') if the collaborative robot determines that avoidance driving for the surrounding movement is possible, allowing the cooperative robot to perform avoidance driving for the surrounding movement;
(d) performing a second drive by the collaborative robot when, after performing the avoidance driving, a peripheral movement is not detected in the movement path of the cooperative robot corresponding to the second driving by the second position sensor; including,
The first position detection sensor is disposed adjacent to the collaborative robot, and includes at least a plurality of IR markers attached to the collaborative robot - the IR markers have a reflector attached to an outer surface, and the reflector is attached to the first position. A camera that detects the motion and position of the collaborative robot by recognizing the light of a specific wavelength irradiated by the detection sensor and recognized by the first position detection sensor,
The second position detection sensor is disposed adjacent to the collaborative robot and is a Lidar sensor that detects the movement or position of a moving object in real time,
Characterized in that the moving path of the collaborative robot corresponding to the second drive is generated based on information on the position and posture of the current cooperative robot, and is updated in real time according to driving correction information received from the robot server.
A method for driving a collaborative robot capable of preemptive response.
delete delete delete delete According to claim 1,
After step (c),
(c-1) outputting a warning sound from a voice generator of the cooperative robot when the second position detection sensor detects a peripheral movement in the movement path of the cooperative robot corresponding to the second drive;
Including more,
A method for driving a collaborative robot capable of preemptive response.
delete A cooperative robot driving system that executes the cooperative robot driving method capable of preemptively responding to claim 1.

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