CN109397289A - A kind of safety control and control method of industrial robot - Google Patents
A kind of safety control and control method of industrial robot Download PDFInfo
- Publication number
- CN109397289A CN109397289A CN201811345288.0A CN201811345288A CN109397289A CN 109397289 A CN109397289 A CN 109397289A CN 201811345288 A CN201811345288 A CN 201811345288A CN 109397289 A CN109397289 A CN 109397289A
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- Prior art keywords
- industrial robot
- robot
- detection zone
- data
- industrial
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses a kind of safety control of industrial robot and control methods, control robot movable, it is intended to prevent the safety accident generated when robot production operation.The safety control includes: at least one data acquisition module, data transmission module, information processing centre and robot communication module；Data acquisition module is mounted in the working space where industrial robot, acquires the image information in different predetermined detection areas；The realtime image data that data transmission module gets data acquisition module is transmitted to information processing centre；Information processing centre judges whether the operation of industrial robot is abnormal according to the detection zone set in realtime image data；If judgement is abnormal, then information processing centre sends control instruction to industrial robot, allow industrial robot slowing down operating speed, Suspend Job in time and stopping operation or respond by way of changing operating angle, guarantees the safe and reliable of production process.
Description
Technical field
The present invention relates to image recognition technology and CAN communication technology more particularly to a kind of security controls of industrial robot
Device and control method.
Background technique
In the 21 century of scientific and technological high speed development, with the fast development of automatic technology, more and more production fields are needed
The transformation of automated job is carried out, wherein automatic field also develops quickly, realizes the industrial machine of automatic operation
Device people is often bulky, and has comparable destructiveness.In terms of production safety, although being set around the working space of robot
There are the warning facilities such as fence to remind the related personnel in production environment separate as far as possible constantly.But this can not keep away from source
Exempt from the generation of production contingency, because the mode avoided risk is the activity space for limiting related personnel, if relevant people in the past
Member is strayed into robot manipulating task space and is extremely vulnerable, and unknown object is strayed into robot manipulating task space will also result in production thing
Therefore.Therefore, the working space of robot is monitored, if robot can effectively be controlled when special circumstances generation by having
System, can be improved the safety in production process, greatly reduces the safe emergency risk in automated production environment.Existing work
There is no information-based security control schemes for industry robot security control, and are mostly by way of setting up physical fences and sending
The mode of warning limits personnel activity to reduce risk, and there is no clearly divide the working region of robot and to robot
Behavior carries out feedback control, and this is exactly problem to be solved by this invention.
Summary of the invention
The invention proposes a kind of safety controls of industrial robot, comprising: at least one data acquisition module, number
According to transmission module, information processing centre and robot communication module；The data acquisition module is mounted on the industrial robot
In the working space at place, the data acquisition module is used to acquire the realtime image data in different predetermined detection areas；Institute
It states data transmission module and the realtime image data that the data acquisition module is got is transmitted to the information processing centre；Institute
It states information processing centre and obtains realtime image data, according to the detection zone of the real time position and setting of foreign body and personnel,
Judge whether the operation of the industrial robot is abnormal；If being abnormal, the information processing centre passes through robot
Communication module sends control instruction to the industrial robot；If judging no exceptions, the industrial robot is kept just
Often work, and judge that working cycles carry out.
In the safety control of the industrial robot proposed by the present invention, the data acquisition module is wide-angle imaging
Machine, for capturing the realtime image data in different predetermined detection areas.Wherein, the realtime image data includes the industry
Whether object or person person entrance is had in the real-time position informations of robot all parts, institute's monitoring range section.
In the safety control of the industrial robot proposed by the present invention, the data transmission module is further encrypted
The realtime image data.
In the safety control of the industrial robot proposed by the present invention, the information processing centre is total by CAN
Line and the industrial robot carry out the interaction of information, and control instruction is transmitted to robot.
In the safety control of the industrial robot proposed by the present invention, the information processing centre includes at least one
A image identification unit, at least one region identification block, at least one judging unit and robot controller；Described image is known
Other unit is used to identify the position data of extraneous personnel or object in the realtime image data；The region recognition list
Member identifies the data boundary of the detection zone according to the entity boundary of identification different colours；The judging unit is for passing through
Comparison position data and data boundary judge whether each detection zone is abnormal；The robot controller is used for according to different inspections
It is whether abnormal to industrial robot transmission control instruction to survey region.
In the safety control of the industrial robot proposed by the present invention, the region identification block according to identification not
The data boundary of the detection zone is identified with the entity boundary of color.
In the safety control of the industrial robot proposed by the present invention, the region identification block according to it is described
The distance in the working region axle center of industrial robot or the operating range of industrial machine human arm, by the different zones identified by
It delimited proximal and distally as the first detection zone, the second detection zone and third detection zone.
In the safety control of the industrial robot proposed by the present invention, the robot controller is according to the work
Industry robot the first detection zone whether Yi Chang judgement result to the industrial robot send control instruction make its stopping
Or change angle；
The robot controller according to the industrial robot the second detection zone whether Yi Chang judgement result to
The industrial robot, which sends control instruction, makes its pause.
The robot controller according to the industrial robot third detection zone whether Yi Chang judgement result to
The industrial robot, which sends control instruction, makes its deceleration.
In the present invention, if the judging unit judges unknown object or personnel are located at the first detection zone, and judge to occur
When abnormal, the robot controller, which sends control instruction to the industrial robot, makes it stop or change angle；
If the judging unit judges unknown object or personnel are located at the second detection zone, and when judgement is abnormal, institute
Stating robot controller makes its pause to industrial robot transmission control instruction；
If the judging unit judges unknown object or personnel are located at third detection zone, and when judgement is abnormal, institute
Stating robot controller makes its deceleration to industrial robot transmission control instruction.
The invention also provides a kind of method of controlling security of industrial robot, which comprises
Step 1: the realtime graphic number in different predetermined detection areas in working space, is being acquired where industrial robot
According to；
Step 2: according to the detection zone of the real time position of different objects and setting in the realtime image data；
Step 3: judge whether the operation of the industrial robot is abnormal；If judgement is abnormal, to the industry
Robot sends control instruction；If judging no exceptions, the industrial robot keeps working normally, and judges that work follows
Ring carries out.
In the method for controlling security of the industrial robot proposed by the present invention, in the step 3 further according to
The distance in the working region axle center of the industrial robot or the operating range of industrial machine human arm are from the near to the distant by operation
The first detection zone, the second detection zone and third detection zone delimited in space, according to the judgement result of the first detection zone to
The industrial robot, which sends control instruction, makes it stop or change angle；According to the judgement result of the second detection zone to described
Industrial robot, which sends control instruction, makes its pause；It is sent according to the judgement result of third detection zone to the industrial robot
Control instruction makes its deceleration.
The beneficial effects of the present invention are: safety control of the present invention can be acquired by a kind of specific monitoring means
The location information of industrial robot all parts judges the security level of industrial robot production process, wherein described safety etc.
Grade includes safety operation, level-1 area is abnormal, level-2 area is abnormal, tertiary zone is abnormal, and to the production shape of industrial robot
State is controlled, when there is unexpected happen, such as when having staff or unknown object to abruptly enter safety detection region
When can be slowing down operating speed, tentative operation in time and stopping operation or respond by way of changing operating angle, guarantor
Demonstrate,prove the safe and reliable of production process.
Detailed description of the invention
Fig. 1 is the schematic diagram of the safety control of industrial robot of the present invention.
Fig. 2 is the workflow and data interaction between the safety control modules of industrial robot of the present invention
Schematic diagram.
Fig. 3 is that the logic that the safety control of industrial robot of the present invention carries out security control process to robot is illustrated
Figure.
Fig. 4 is the control method flow chart of the safety control of industrial robot of the present invention.
Fig. 5 is the workspace of the first detection zone, the second detection zone and third detection zone relative to industrial robot
The opposite of domain axle center delimit schematic diagram.
Specific embodiment
In conjunction with following specific embodiments and attached drawing, the present invention is described in further detail.Implement process of the invention,
Condition, experimental method etc. are among the general principles and common general knowledge in the art, this hair in addition to what is specifically mentioned below
It is bright that there are no special restrictions to content.
The safety control of 1 industrial robot of embodiment
The schematic diagram of the safety control of industrial robot of the present invention is shown in Fig. 1.Industrial robot of the present invention
Safety control includes: that at least one data acquisition module 1, data transmission module 2, information processing centre 3 and robot are logical
Believe module 4.Wherein, in data acquisition module 1, data transmission module 2 and information processing centre 3 in addition to robot controller
Other modules are encapsulated in the working space surface where industrial robot, and information processing centre 3 passes through robot communication module 4
It establishes and communicates with industrial robot 5.Signified industrial robot 5 is usually industrial six-joint robot, robot control in the present invention
Device processed will control after signal is converted to specific robot working instruction signal, and signal passes to work from robot communication module 4
The controller of industry robot 5, command signal is converted into motor signal by motor driver by subsequent industrial robot, and then is controlled
Motor processed is reacted, and revolving speed or angle are changed.
More specifically, data acquisition module 1 is realized using wide angle cameras, captures industrial machine by wide angle cameras
The realtime image data of all parts in people.Data acquisition module 1 is fixed in working space, and coverage covers work
With its realtime image data of real-time capture, the specific fixed position of data acquisition module 1 can be according to actual needs for industry robot
Any adjustment.In the present embodiment, the top of working space is arranged in data acquisition module 1, is located above industrial robot, claps
The entire plane for taking the photograph range overwrite job space, the job area including industrial area robots one or more in working space.
The realtime image data that data acquisition module 1 is got is transmitted to information processing centre 3 by data transmission module 2.
Data transmission module 2 can be used wired or wireless signal transmission means and realize.Further, it to ensure data transmission security, counts
According to transmission module 2 necessary encryption can be carried out to realtime image data.
Information processing centre 3 obtains realtime image data, according to the real time position of industrial robot all parts and setting
Detection zone, judge whether the operation of industrial robot is abnormal；If judgement is abnormal, information processing centre 3 is logical
It crosses robot communication module 4 and sends control instruction to industrial robot；If judging no exceptions, the industrial robot is protected
Normal work is held, and judges that working cycles carry out.Wherein, robot communication module 4 is realized using CAN bus.
More specifically, information processing centre 3 includes at least one image identification unit 31, at least one region recognition list
Member 32, at least one judging unit 33 and robot controller 34；Image identification unit 31 is used for from the realtime image data
The position data of the industrial robot different objects is identified in the middle；The working space for identification of region identification block 32
The data boundary of interior each detection zone, wherein different detection zones makes differentiation by the entity boundary of different colours；
The data boundary judgement that judging unit 33 is used to be identified by comparing foreign body or demographic data and region identification block 32
Whether detection zone is abnormal；Robot controller 34 is used to be sent according to detection zone where the robot to the robot
Control instruction, more specifically, robot controller 34 define object dictionary by canOPEN byte, and then make control and refer to
Enable table.
As shown in figure 5, region identification block 32 is different according to identifying at a distance from the working region axle center of industrial robot 5
The data boundary of detection zone.For example, region identification block 32 is according at a distance from the working region axle center of industrial robot 5,
Or the arm scope of activities according to industrial robot 5, recognize three detection zones delimited into the first inspection from the near to the distant
Survey region, the second detection zone and third detection zone.Robot controller 34 according to the judgement result of the first detection zone to
Industrial robot 5, which sends control instruction, makes it stop or change angle；Robot controller 34 is sentenced according to the second detection zone
Determining result makes its pause to the transmission of industrial robot 5 control instruction；Robot controller 34 is according to the judgement of third detection zone
As a result sending control instruction to industrial robot 5 makes its deceleration.In addition to above-mentioned first, second, third detection zone, for industry
Farther away 5 working region of robot is safety detection region, without assigning special instruction, etc. and so on, the present invention couple
It is not especially limited in the quantity of detection zone, the partitioning standards of data boundary.
Embodiment 2
Based on the industrial robot method of controlling security that the safety control in above embodiments 1 is realized be detailed in Fig. 2,
Fig. 3 and Fig. 4, this method comprises:
Step 1: the realtime graphic number in different predetermined detection areas in working space, is being acquired where industrial robot
According to；
Step 2: according to the detection zone of the real time position of different objects and setting in the realtime image data；
Step 3: judge whether the operation of the industrial robot is abnormal；If judgement is abnormal, to the industry
Robot sends control instruction.
In the step 3, according at a distance from the working region axle center of the industrial robot or industrial machine human arm
Operating range working space delimited into the first detection zone, the second detection zone and third detection zone from the near to the distant.It is right
In the first detection zone to third detection zone, successively judge from the near to the distant according to distance.
First according to the judgement of the first detection zone as a result, if it is determined that result is to be abnormal, then to the industrial machine
Human hair send control instruction that it is made to stop or change angle；If it is determined that result is no exceptions, then continue to determine the second detection zone
Domain.
Secondly according to the judgement of the second detection zone as a result, if it is determined that result is to be abnormal, then to the industrial machine
Human hair send control instruction to make its pause；If it is determined that result is no exceptions, then continue to determine third detection zone.
Finally according to the judgement of third detection zone as a result, if it is determined that result is to be abnormal, then to the industrial machine
Human hair send control instruction to make its deceleration；If it is determined that result is no exceptions, then the industrial robot keeps working normally, and
Judge that working cycles carry out, and continues acquisition realtime image data and determined next time.
Protection content of the invention is not limited to above embodiments.Without departing from the spirit and scope of the invention, originally
Field technical staff it is conceivable that variation and advantage be all included in the present invention, those skilled in the art are according to practical application
Change made by situation is all contained within inventive concept of the invention, and is protection model with appended claims
It encloses.
Claims (10)
1. a kind of safety control of industrial robot characterized by comprising at least one data acquisition module (1), number
According to transmission module (2), information processing centre (3) and robot communication module (4)；The data acquisition module (1) is mounted on work
In working space where industry robot, the data acquisition module (1) is real-time in different predetermined detection areas for acquiring
Image data；The realtime image data that the data acquisition module (1) is got is transmitted to institute by the data transmission module (2)
State information processing centre (3)；The information processing centre (3) obtains realtime image data, according in the realtime image data
The real time position of different objects and the detection zone of setting, judge whether the operation of the industrial robot is abnormal；If sentencing
Disconnected to be abnormal, then the information processing centre (3) is sent by robot communication module (4) the Xiang Suoshu industrial robot
Control instruction；If judging no exceptions, the industrial robot keeps working normally, and judges that working cycles carry out.
2. the safety control of industrial robot according to claim 1, which is characterized in that the data acquisition module
It (1) is wide angle cameras, for capturing the realtime image data in different predetermined detection areas.
3. the safety control of industrial robot according to claim 1, which is characterized in that the data transmission module
(2) realtime image data is further encrypted.
4. the safety control of industrial robot according to claim 1, which is characterized in that the information processing centre
(3) interaction that information is carried out by CAN bus and the industrial robot, is transmitted to robot for control instruction.
5. the safety control of industrial robot according to claim 1, which is characterized in that the information processing centre
It (3) include at least one image identification unit (31), at least one region identification block (32), at least one judging unit (33)
With robot controller (34)；Described image recognition unit (31) in the realtime image data for identifying the work
The position data of industry robot different objects；The region identification block (32) each inspection in the working space for identification
The data boundary for surveying region, wherein different detection zones is identified by the entity boundary of different colours；The judgement is single
The data boundary judgement inspection that first (33) are used to be identified by comparing foreign body or demographic data and region identification block (32)
Whether abnormal survey region；The robot controller (34) is used for whether abnormal information to be determined to institute according to each detection zone
State the control instruction of robot transmission.
6. the safety control of industrial robot according to claim 5, which is characterized in that the region identification block
(32) data boundary of the detection zone is identified according to the entity boundary of identification different colours.
7. the safety control of industrial robot according to claim 6, which is characterized in that the region identification block
(32) according at a distance from the working region axle center of the industrial robot or the operating range of industrial machine human arm, will be known
Other different zones delimited from the near to the distant as the first detection zone, the second detection zone and third detection zone.
8. the safety control of industrial robot according to claim 7, which is characterized in that the robot controller
(34) sending control instruction to the industrial robot according to the judgement result of the first detection zone makes it stop or change angle；
The robot controller (34), which sends control instruction to the industrial robot according to the judgement result of the second detection zone, to be made
It suspends；The robot controller (34) sends to the industrial robot according to the judgement result of third detection zone and controls
Instruction makes its deceleration.
9. a kind of method of controlling security of industrial robot, which is characterized in that the described method includes:
Step 1: in working space, the realtime image data in different predetermined detection areas is being acquired where industrial robot；
Step 2: according to the detection zone of the real time position of different objects and setting in the realtime image data；
Step 3: judge whether the operation of the industrial robot is abnormal；If judgement is abnormal, Xiang Suoshu industrial machine
Human hair send control instruction；If judging no exceptions, the industrial robot keeps working normally, and judge working cycles into
Row.
10. the method for controlling security of industrial robot according to claim 9, which is characterized in that in the step 3
Further basis is at a distance from the working region axle center of the industrial robot or the operating range of industrial machine human arm is by close
And working space far delimited into the first detection zone, the second detection zone and third detection zone, according to the first detection zone
Judgement result to the industrial robot send control instruction make its stop or change angle；According to sentencing for the second detection zone
Determining result makes its pause to industrial robot transmission control instruction；According to the judgement result of third detection zone to the work
Industry robot, which sends control instruction, makes its deceleration.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811345288.0A CN109397289A (en) | 2018-11-13 | 2018-11-13 | A kind of safety control and control method of industrial robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811345288.0A CN109397289A (en) | 2018-11-13 | 2018-11-13 | A kind of safety control and control method of industrial robot |
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| CN109397289A true CN109397289A (en) | 2019-03-01 |
Family
ID=65472915
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| CN201811345288.0A Pending CN109397289A (en) | 2018-11-13 | 2018-11-13 | A kind of safety control and control method of industrial robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111531582A (en) * | 2020-04-27 | 2020-08-14 | 武汉工程大学 | Industrial robot fault detection method and system based on vision |
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