CN109937119A - Passenger protection system and its operation method - Google Patents
Passenger protection system and its operation method Download PDFInfo
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- CN109937119A CN109937119A CN201680088078.0A CN201680088078A CN109937119A CN 109937119 A CN109937119 A CN 109937119A CN 201680088078 A CN201680088078 A CN 201680088078A CN 109937119 A CN109937119 A CN 109937119A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
Disclose a kind of passenger protection system (100), for avoiding industrial equipment and staff in the scene of workshop from colliding, the operating mechanism that there is industrial equipment at least one can be moved with one or more freedom degrees, passenger protection system includes that positioning and motion information seek subsystem (101) and control subsystem (103), wherein, positioning seeks subsystem (101) detection with motion information or seeks the operating mechanism of each industrial equipment and the real time position of each staff and real time kinematics information, control subsystem (103) seeks the real-time range between each industrial equipment and staff based on real time position, the geometrical structure parameter of operating mechanism and staff based on each industrial equipment and the real time kinematics information seek real-time alerting distance and actual time safety critical distance and in institutes It states when real-time range is respectively smaller than equal to the real-time alerting distance and affiliated actual time safety critical distance and takes corresponding safety measure.
Description
The present invention relates to a kind of passenger protection system and a kind of methods for running the passenger protection system.
So far, in order to avoid the industrial equipment with movable operating mechanism to injure staff in the scene of workshop, usually setting physics fence or sensor-based security system, wherein, physics fence usually passes through mechanical fence, and industrial equipment is isolated, to make staff be difficult to approach, sensor-based security system usually passes through imaging sensor or laser sensor detection staff whether enters danger area and triggering industrial equipment is out of service when detecting that staff enters danger area.It can be seen that safety measure so far is substantially arranged fixed danger area and is only applicable to the fixed industrial equipment in position.The case where particularly with the industrial robot with walking ability is used more and more in the scene of workshop, safety measure so far obviously can not provide reliable and flexible personal protection.
Summary of the invention
The purpose of the present invention is to provide a kind of passenger protection systems and a kind of method for running the passenger protection system; it is used to provide more reliable and more flexible dynamic staff protection in there is the workshop scene of industrial equipment that may damage staff, on the one hand ensures the personal safety of staff and the on the other hand unnecessary deceleration or shutdown of reduction industrial equipment as far as possible.
In order to realize this purpose, the present invention provides a kind of passenger protection systems, it is used to avoid industrial equipment and staff in the scene of workshop to collide, the operating mechanism that there is the industrial equipment at least one can be moved with one or more freedom degrees, wherein, the passenger protection system includes that positioning and motion information seek subsystem and control subsystem, wherein, the positioning seeks subsystem detection with motion information or seeks the operating mechanism of each industrial equipment and the real time position of each staff and real time kinematics information, the control subsystem seeks the real-time range between each industrial equipment and staff based on the real time position, the geometry of operating mechanism and staff based on each industrial equipment
Structural parameters and the real time kinematics information seek real-time alerting distance and actual time safety critical distance and take corresponding safety measure when the real-time range is respectively smaller than equal to the real-time alerting distance and the actual time safety critical distance.
In the preferred embodiment of the present invention, the industrial equipment is configured with the industrial robot of walking ability.
In the preferred embodiment of the present invention, it includes location transmitters that the positioning, which seeks subsystem with motion information, receiver and processing unit, wherein, it is arranged at least two on each operating mechanism of each industrial equipment, it is preferred that lucky two location transmitters, and each staff wears at least two, it is preferred that lucky two location transmitters, the location transmitters are configured to initiatively emit signal, the signal is received by the multiple receivers being arranged in the scene of workshop and is transferred to the processing unit by receiver, the processing unit is sought the real time position of each location transmitters according to the signal received by the receiver and is sought according to the predetermined layout of striked real time position and location transmitters on each operating mechanism of each staff or each industrial equipment The real time kinematics information of the operating mechanism of relevant staff or industrial equipment.
In the preferred embodiment of the present invention, the real time kinematics information is related to the direction of motion, movement velocity and acceleration of motion.
In the preferred embodiment of the present invention, the real time position and the real time kinematics information are related to position in two-dimensional surface and motion information or the position and motion information that are related in three-dimensional space.
In the preferred embodiment of the present invention, it further includes one or more motion sensors that the positioning, which seeks subsystem with motion information,.
In the preferred embodiment of the present invention, the motion sensor is inertial sensor, is able to detect the real time kinematics information such as the direction of motion, movement velocity and acceleration of motion.
In the preferred embodiment of the present invention, soundness verification or correction are carried out to the motion information that the signal based on location transmitters is sought according to the motion information by motion sensor senses.
In the preferred embodiment of the present invention, the control subsystem includes safety control module, and the safety control module is used to the geometrical structure parameter based on the real-time range between operating mechanism and staff of the real time position to seek each industrial equipment of the operating mechanism and staff of seeking each industrial equipment that subsystem is sought by the positioning and motion information and operating mechanism and staff based on each industrial equipment and seeks the real time kinematics that subsystem is sought with motion information by the positioning believe
Cease the real-time alerting distance and actual time safety critical distance between the operating mechanism and staff to generate each industrial equipment, wherein the real-time alerting distance is greater than the actual time safety critical distance.
In the preferred embodiment of the present invention, the safety control module seeks the real time kinematics information that subsystem is sought based on the geometrical structure parameter of the operating mechanism of each industrial equipment and staff and by the positioning and motion information to generate the minimum range to collide between the operating mechanism and staff that can avoid the industrial equipment just and determine the actual time safety critical distance and the real-time alerting distance based on the minimum range.Such as, by the actual time safety critical distance be determined as 0.5 meter bigger than the minimum range, it is 0.75 meter preferably big, more preferably big 1 meter be perhaps determined as it is any other according to application suitable distance and by the real-time alerting distance be determined as it is 0.5 meter bigger than the critical distance with high safety, 0.75 meter preferably big, more preferably big 1 meter or be determined as it is any other according to apply suitable distance.
In the preferred embodiment of the present invention, the safety control module is generating the real-time alerting distance and when actual time safety critical distance is also conceivable to reaction time of system, person's development time and/or seeks real time position and range of tolerable variance of motion information of subsystem offer, etc. by the positioning and motion information.
In the preferred embodiment of the present invention, the safety control module is also used to take corresponding safety measure when the real-time range is respectively smaller than equal to the real-time alerting distance and the actual time safety critical distance, wherein, when the real-time range between the operating mechanism of industrial equipment and staff be less than or equal to the real-time alerting apart from when so that the operating mechanism of relevant industrial equipment is decelerated to predefined warning speed, keep relevant industrial equipment completely out of service when the real-time range between the operating mechanism of industrial equipment and staff is less than or equal to the actual time safety critical distance.
In the preferred embodiment of the present invention, the alert module be used for when the real-time range between the operating mechanism of industrial equipment and staff be less than or equal to the real-time alerting apart from when by the wearable device of staff optically and/or acoustically and/or mode of vibration give a warning to relevant staff.
In the preferred embodiment of the present invention, the control subsystem further includes inline diagnosis module, and the inline diagnosis module is used for the operating status of control subsystem described in inline diagnosis and keeps all industrial equipments out of service when detecting the control subsystem and abnormality occur.
In the preferred embodiment of the present invention, the passenger protection system further includes configuration and Monitor And Control Subsystem, wherein described configure with Monitor And Control Subsystem includes off-line arrangement module, visualization model
With enter control module; wherein; the off-line arrangement module is used to carry out the configuration of the passenger protection system; the visualization model is configured for the visible user interface of configuration described above and the operating status for monitoring the passenger protection system; wherein, the control module that enters is for checking whether staff has worn location transmitters and/or motion sensor before entering workshop.
In the preferred embodiment of the present invention, the real time kinematics information of the model that subsystem includes each industrial equipment and/or each staff and operating mechanism and each staff that each industrial equipment can be sought based on the model is sought in the positioning with motion information.Here, the model can be two dimensional model or threedimensional model.
The present invention also provides a kind of methods for running passenger protection system according to the present invention, the described method comprises the following steps: in the first step, detecting or seek the operating mechanism of each industrial equipment and the real time position of staff and real time kinematics information；In the second step, the real-time range between the operating mechanism and staff of each industrial equipment is sought based on the real time position；In third step, based on the real-time alerting distance and actual time safety critical distance between the operating mechanism and staff of the geometrical structure parameter and real time kinematics information of the operating mechanism of each industrial equipment and staff to generate each industrial equipment；In four steps, real-time range between the operating mechanism of industrial equipment and staff is compared with real-time alerting distance generated and actual time safety critical distance, if the real-time range is respectively smaller than equal to the real-time alerting distance and the actual time safety critical distance, corresponding safety measure is taken.
In the preferred embodiment of the present invention, in third step, the minimum range to collide between the operating mechanism of industrial equipment and staff can be avoided to generate just by being primarily based on the operating mechanism of each industrial equipment and the geometrical structure parameter of staff and real time kinematics information, be then based on the minimum range and determined the actual time safety critical distance and the real-time alerting distance.For example, by the actual time safety critical distance be determined as 0.5 meter bigger than the minimum range, it is 0.75 meter preferably big, more preferably big 1 meter or be determined as it is any other according to apply suitable distance.For example, by the real-time alerting distance be determined as 0.5 meter bigger than the actual time safety critical distance, it is 0.75 meter preferably big, more preferably big 1 meter or be determined as it is any other according to apply suitable distance.
In the preferred embodiment of the present invention, in third step, the reaction time, person's development time and/or real time position data and the range of tolerable variance of real time kinematics information etc. of system can also be extraly considered when generating the real-time alerting distance and the actual time safety critical distance.
In the preferred embodiment of the present invention, in four steps, if the behaviour of industrial equipment
The real-time range made between mechanism and staff is less than or equal to the real-time alerting distance, the operating mechanism of related industries equipment is then set to decelerate to predefined warning speed, if the real-time range between the operating mechanism and staff of industrial equipment is less than or equal to the actual time safety critical distance, keep related industries equipment completely out of service.
In the preferred embodiment of the present invention, if the real-time range between the operating mechanism and staff of industrial equipment is increased above the actual time safety critical distance from the actual time safety critical distance is less than or equal to, the operating mechanism of related industries equipment is then set to accelerate to predefined warning speed, and if the real-time range between the operating mechanism and staff of industrial equipment continues to be increased above the real-time alerting distance, related industries equipment is made to restore to operate normally.
In the preferred embodiment of the present invention, it in the first step, establishes the model of each industrial equipment and/or each staff and seeks the operating mechanism of each industrial equipment and the real time kinematics information of each staff based on the model.Here, the model can be two dimensional model or threedimensional model.
Passenger protection system according to the present invention or method for running the passenger protection system have at least the following advantages:
1. passenger protection system according to the present invention or the method for running the passenger protection system can realize dynamic staff protection based on real time data, the unnecessary deceleration or shutdown of industrial equipment are avoided as much as possible in the case where ensuring worker safety；
2. the workshop scene that passenger protection system according to the present invention or the method for running the passenger protection system are particularly suitable for the industrial robot for having with walking ability；
3. passenger protection system according to the present invention or the method for running the passenger protection system can not only realize the personal protection of two-dimentional scope and can be realized the personal protection of three-dimensional scope.
The preferred embodiment of the present invention is elaborated below according to attached drawing.It will be understood by those skilled in the art that these preferred embodiments, which are only exemplary and do not mean that, forms any restrictions to the present invention.
Fig. 1 shows the schematic block diagram of passenger protection system 100 according to the present invention.
Fig. 2 shows the schematic block diagrams that subsystem 101 is sought in positioning according to the present invention and motion information.
Fig. 3 shows the schematic block diagram of configuration and Monitor And Control Subsystem 102 according to the present invention.
Fig. 4 shows the schematic block diagram of control subsystem 103 according to the present invention.
Fig. 5 shows the schematic flow chart of the method for running passenger protection system 100 according to the present invention.
Fig. 1 shows the schematic block diagram of passenger protection system 100 according to the present invention.The passenger protection system in the workshop scene that there is the industrial equipment that may be damaged to staff particularly for avoiding industrial equipment injury (such as collision) staff.In a kind of exemplary scene, the industrial equipment can be the industrial robot on assembling line, it mainly includes a pedestal and one or more operating mechanisms, what the pedestal was fixed in position relative to ground, the operating mechanism is mounted on the pedestal and for example it is so structured that the mechanical arm that can be moved at least one degree of freedom.In another exemplary scene, the industrial equipment can be the industrial robot with walking ability, it for example can move in determining region and also can have one or more operating mechanisms by means of the walking mechanism of wheeled or sufficient formula or any other possible form, and the operating mechanism for example can be structured as the mechanical arm that can be moved at least one degree of freedom.
According to the present invention, the passenger protection system 100 includes that positioning and motion information seek subsystem 101, configuration and Monitor And Control Subsystem 102 and control subsystem 103.
The positioning and motion information seek subsystem 101 mainly for detection of or seek the operating mechanism of each industrial equipment in the scene of workshop and the real time position of each staff and real time kinematics information.
The configuration is mainly used for configuring the operating status of the passenger protection system and the monitoring passenger protection system with Monitor And Control Subsystem 102.
The control subsystem 103 is mainly used for seeking real-time range, real-time alerting distance and the actual time safety critical distance between the operating mechanism of each industrial equipment and staff and takes corresponding safety measure when the real-time range is respectively smaller than equal to the real-time alerting distance and the actual time safety critical distance.
The schematic block diagram that subsystem 101 is sought in positioning according to the present invention with motion information is shown in FIG. 2.It may include location transmitters 1011, receiver 1012 and processing unit 1013 that the positioning, which seeks subsystem 101 for example with motion information,.
At least two location transmitters are respectively set on (each) operating mechanism of each industrial equipment, and each staff wears at least two location transmitters respectively.Preferably, lucky two location transmitters are respectively set on (each) operating mechanism of each industrial equipment, and the two location transmitters are arranged on the section between two joints of operating mechanism, wherein, the distance between the two location transmitters and the position relative to the section are fixed always.Preferably, each staff wears lucky two location transmitters respectively, and the two location transmitters for example can be set on the left shoulder of staff or right shoulder or any other position suitable for application, wherein, the distance between the two location transmitters and the position relative to the position are fixed always.These location transmitters initiatively emit (broadcast) signal, such as radio frequency (RF) signal, ultrasonic signal, infrared signal etc..The location transmitters may also be referred to as positioning label or electronic tag (tag).The fixed receiver 1012 in multiple positions is set in the scene of workshop, these receivers receive the signal emitted by each location transmitters and received signal is transferred to processing unit 1013.Processing unit 1013 can seek the real time position of each location transmitters based on the signal received by receiver.For example, processing unit 1013 can seek the real time position of this location transmitters based on the signal by the transmitting of a location transmitters received by least three receivers.On the one hand the redundancy setting of at least two location transmitters can be improved system stability, enable the predetermined layout at least two location transmitters being arranged on (each) operating mechanism that processing unit 1013 wears according to striked real time position and by each staff or in each industrial equipment on the other hand to seek the real time kinematics information of the operating mechanism of relevant staff or industrial equipment.The real time kinematics information is for example related to the direction of motion, movement velocity and acceleration of motion etc..
The real time position and the real time kinematics information can be related to position in two-dimensional surface and motion information or the position and motion information that can be related in three-dimensional space.
For example, the real time kinematics direction of the operating mechanism of staff or industrial equipment can directly be determined according to the relative position of set location transmitters (for example, two location transmitters) in space in real time.For example, the real time kinematics speed or acceleration of the operating mechanism of staff or industrial equipment can be sought according to change in location of the set location transmitters within the unit time.
Preferably, industrial equipment (including set location transmitters) is modeled, and seeks based on the model of industrial equipment the real time kinematics information of the operating mechanism of industrial equipment, wherein the model can be two dimensional model or threedimensional model.
Preferably, staff's (including set location transmitters) is modeled, Yi Jiji
The real time kinematics information of staff is sought in the model of staff, wherein the model can be two dimensional model or threedimensional model.
Selectively, it can also include one or more motion sensors 1014, such as inertial sensor that the positioning, which seeks subsystem 101 with motion information, be able to detect required motion information, such as the direction of motion, movement velocity and acceleration of motion etc..
In the case where being provided with motion sensor 1014, such as soundness verification or correction can be carried out to the motion information that the signal according to location transmitters is sought according to the motion information by motion sensor senses.
Selectively, in the case where being provided with motion sensor 1014, such as a location transmitters can be worn respectively by each staff and a location transmitters are respectively set on (each) operating mechanism of each industrial equipment, wherein, real time position is sought by the signal of location transmitters and provides motion information by motion sensor.
Fig. 3 shows the schematic block diagram of configuration and Monitor And Control Subsystem 102 according to the present invention.The configuration including off-line arrangement module 1021, visualization model 1022 and enters control module 1023 with Monitor And Control Subsystem 102.
The off-line arrangement module 1021 is used to carry out the configuration of the passenger protection system 100, such as the parameter of configuration location transmitters, the parameter of receiver, the parameter of motion sensor, diagnostic seach parameter, pipeline parameter, parameter related with data processing, the parameter of industrial equipment is any other according to using required parameter, wherein, parameter related with data processing is for example related to amplifier parameter and filter parameter etc., the parameter of industrial equipment is for example related to the geometrical structure parameter of the operating mechanism of industrial equipment, set scope of activities, maximum possible scope of activities etc..
The visualization model 1022 is configured to carry out the visible user interface of the operating status of configuration described above and the monitoring passenger protection system 100.
The control module 1023 that enters is for checking whether staff has worn location transmitters and/or motion sensor before entering workshop.
Selectively, the function into control module 1023 also can integrate in visualization model 1022.
The schematic block diagram of control subsystem 103 according to the present invention is shown in FIG. 4.The control subsystem 103 is for example including safety control module 1031, inline diagnosis module 1032 and alert module 1033.
The safety control module 1031 is used to seek real-time range between the operating mechanism and staff of each industrial equipment, generate real-time alerting distance between the operating mechanism and staff of each industrial equipment and actual time safety critical distance and takes corresponding safety measure when the real-time range is less than or equal to the warning distance or the actual time safety critical distance.Here, the safety control module 1031 is based on the real-time range between operating mechanism and staff of the real time position data to seek each industrial equipment of the operating mechanism and staff of seeking each industrial equipment that subsystem 101 is sought by positioning and motion information.Here, the safety control module 1031 seeks real-time alerting distance and actual time safety critical distance between operating mechanism and staff of the real time kinematics information that subsystem 101 is sought to generate each industrial equipment based on the geometrical structure parameter of the operating mechanism of each industrial equipment and staff and by positioning and motion information.The real-time alerting distance is greater than the actual time safety critical distance.
For example, the geometrical structure parameter of the operating mechanism of industrial equipment is related to (maximum) distance between the longitudinal length more particularly to location transmitters and the free end of operating mechanism of the operating mechanism.For example, the geometrical structure parameter of staff is for example related to the brachium of staff.It is appreciated that the operating mechanism of industrial equipment or the geometrical structure parameter of staff also relate to any other appropriate or required geometrical structure parameter for concrete application.
According to a kind of embodiment, the minimum range to collide between the operating mechanism of industrial equipment and staff can be avoided to generate just by being primarily based on the operating mechanism of each industrial equipment and the geometrical structure parameter of staff and real time kinematics information, be then based on the minimum range to determine the actual time safety critical distance and real-time alerting distance.For example, by the actual time safety critical distance be determined as 0.5 meter bigger than the minimum range, it is 0.75 meter preferably big, more preferably big 1 meter or be determined as it is any other according to apply suitable distance.For example, by the real-time alerting distance be determined as 0.5 meter bigger than the actual time safety critical distance, it is 0.75 meter preferably big, more preferably big 1 meter or be determined as it is any other according to apply suitable distance.
Selectively, the real-time alerting distance is being generated and when actual time safety critical distance can also extraly consider reaction time of system, person's development time and/or range of tolerable variance etc. that the real time position data that subsystem 101 provides and motion information are sought by positioning with motion information.
If the real-time range between the operating mechanism and staff of industrial equipment is less than or equal to the real-time alerting distance, the operating mechanism of related industries equipment is made to decelerate to predefined warning speed.If the real-time range between the operating mechanism and staff of industrial equipment is less than or equal to the actual time safety
Critical distance then makes related industries equipment completely out of service.
Selectively, if the real-time range between the operating mechanism and staff of industrial equipment is increased above the actual time safety critical distance from the actual time safety critical distance is less than or equal to, the operating mechanism of related industries equipment is then set to accelerate to predefined warning speed, and if the real-time range between the operating mechanism and staff of industrial equipment continues to be increased above the real-time alerting distance, related industries equipment is made to restore to operate normally.
The inline diagnosis module 1032 is used for the operating status of diagnosis control subsystem.If detecting the control subsystem abnormality occurs, make the wholly off operation of related industrial equipment.
The alert module 1033 for example when the real-time range between the operating mechanism of industrial equipment and staff be less than or equal to the real-time alerting apart from when by the wearable device of staff optically and/or acoustically and/or mode of vibration give a warning to staff.
The schematic flow chart of the method for running passenger protection system 100 according to the present invention is shown in FIG. 5.
In the first step 501, detect or seek the operating mechanism of each industrial equipment and the real time position of staff and real time kinematics information.
In second step 502, the real-time range between the operating mechanism and staff of each industrial equipment is sought based on the real time position.
In third step 503, based on the real-time alerting distance and actual time safety critical distance between the operating mechanism and staff of the geometrical structure parameter and real time kinematics information of the operating mechanism of each industrial equipment and staff to generate each industrial equipment.Such as, the minimum range to collide between the operating mechanism of industrial equipment and staff can be avoided to generate just by being primarily based on the operating mechanism of each industrial equipment and the geometrical structure parameter of staff and real time kinematics information, be then based on the minimum range and determined the actual time safety critical distance and the real-time alerting distance.
For example, by the actual time safety critical distance be determined as 0.5 meter bigger than the minimum range, it is 0.75 meter preferably big, more preferably big 1 meter or be determined as it is any other according to apply suitable distance.
For example, by the real-time alerting distance be determined as 0.5 meter bigger than the actual time safety critical distance, it is 0.75 meter preferably big, more preferably big 1 meter or be determined as it is any other according to apply suitable distance.
Selectively, the reaction time, person's development time and/or real time position data and the range of tolerable variance of real time kinematics information etc. of system can also be extraly considered when generating the real-time alerting distance and the actual time safety critical distance.
In four steps 504, real-time range between the operating mechanism of industrial equipment and staff is compared with real-time alerting distance generated and actual time safety critical distance, if the real-time range is respectively smaller than equal to the real-time alerting distance and the actual time safety critical distance, corresponding safety measure is taken.Such as, if the real-time range is less than or equal to the real-time alerting distance, the operating mechanism of related industries equipment is then set to decelerate to predefined warning speed and give a warning to the staff, if the real-time range between the operating mechanism and staff of industrial equipment is less than or equal to the actual time safety critical distance, keep related industries equipment completely out of service.
Selectively, if the real-time range between the operating mechanism and staff of industrial equipment is increased above the actual time safety critical distance from the actual time safety critical distance is less than or equal to, the operating mechanism of related industries equipment is then set to accelerate to predefined warning speed, and if the real-time range between the operating mechanism and staff of industrial equipment continues to be increased above the real-time alerting distance, related industries equipment is made to restore to operate normally.
Preferably, in the first step 501, industrial equipment (including set location transmitters) is modeled, and seeks based on the model of industrial equipment the real time kinematics information of the operating mechanism of industrial equipment.
Preferably, in the first step 501, staff's (including set location transmitters) is modeled, and seeks the real time kinematics information of staff based on the model of staff.
To those skilled in the art, various variations or modifications can carried out to preferred embodiment above without departing from the spirit of the invention, these variations or modifications are all without departing from scope of the invention.
Claims (13)
- A kind of passenger protection system; it is used to avoid industrial equipment and staff in the scene of workshop to collide; the operating mechanism that there is the industrial equipment at least one can be moved with one or more freedom degrees; the passenger protection system includes that positioning and motion information seek subsystem and control subsystemWherein, the positioning seeks subsystem detection with motion information or seeks the operating mechanism of each industrial equipment and the real time position of each staff and real time kinematics information,Wherein, the control subsystem seeks the real-time range between each industrial equipment and staff, the operating mechanism based on each industrial equipment and the geometrical structure parameter of staff based on the real time position and the real time kinematics information seeks real-time alerting distance and actual time safety critical distance and takes corresponding safety measure when the real-time range is respectively smaller than equal to the real-time alerting distance and the actual time safety critical distance.
- Passenger protection system according to claim 1, which is characterized in that the industrial equipment is configured with the industrial robot of walking ability.
- Passenger protection system according to claim 1 or 2, it is characterized in that, it includes location transmitters that the positioning, which seeks subsystem with motion information, receiver and processing unit, wherein, it is arranged at least two on each operating mechanism of each industrial equipment, it is preferred that lucky two location transmitters, and each staff wears at least two, it is preferred that lucky two location transmitters, the location transmitters are configured to initiatively emit signal, the signal is received by the multiple receivers being arranged in the workshop scene and is transferred to the processing unit by the receiver, the processing unit seeks the real time position of each location transmitters and according to striked real time position and the location transmitters in each of each staff or each industrial equipment according to the signal received by the receiver Predetermined layout on a operating mechanism seeks the real time kinematics information of the operating mechanism of relevant staff or industrial equipment.
- Passenger protection system according to any one of claim 1 to 3; it is characterized in that; the control subsystem includes safety control module, the geometrical structure parameter of operating mechanism and staff of the safety control module based on each industrial equipment and by it is described positioning with motion information seek subsystem The unite real time kinematics information sought generates the minimum range to collide between the operating mechanism and staff that can avoid the industrial equipment just and determines the actual time safety critical distance and the real-time alerting distance based on the minimum range, wherein, the real-time alerting distance is greater than the actual time safety critical distance.
- Passenger protection system according to claim 4; it is characterized in that, the safety control module also considers the reaction time, person's development time and/or the range of tolerable variance for seeking the real time position that subsystem provides and real time kinematics information with motion information by the positioning of system when generating the real-time alerting distance and the actual time safety critical distance.
- Passenger protection system according to claim 4 or 5, it is characterized in that, the safety control module is also used to take corresponding safety measure when the real-time range is respectively smaller than equal to the real-time alerting distance and the actual time safety critical distance, wherein, when the real-time range between the operating mechanism of the industrial equipment and the staff be less than or equal to the real-time alerting apart from when so that the operating mechanism of relevant industrial equipment is decelerated to predefined warning speed, keep relevant industrial equipment completely out of service when the real-time range between the operating mechanism of the industrial equipment and the staff is less than or equal to the actual time safety critical distance.
- Passenger protection system according to any one of claim 1 to 6; it is characterized in that; the control subsystem includes alert module, the alert module be used for when the real-time range between the operating mechanism of the industrial equipment and staff be less than or equal to the real-time alerting apart from when by the wearable device of the staff optically and/or acoustically and/or mode of vibration give a warning to relevant staff.
- Passenger protection system according to any one of claim 1 to 7; it is characterized in that, the real time kinematics information of the model that subsystem includes each industrial equipment and/or each staff and the operating mechanism and each staff of seeking each industrial equipment based on the model is sought in the positioning with motion information.
- It is a kind of for running passenger protection system according to any one of claim 1 to 8 Method the described method comprises the following steps:In the first step, detect or seek the operating mechanism of each industrial equipment and the real time position of staff and real time kinematics information；In the second step, the real-time range between the operating mechanism and staff of each industrial equipment is sought based on the real time position；In third step, based on the real-time alerting distance and actual time safety critical distance between the operating mechanism and staff of the geometrical structure parameter and real time kinematics information of the operating mechanism of each industrial equipment and staff to generate each industrial equipment；In four steps, real-time range between the operating mechanism of the industrial equipment and the staff is compared with real-time alerting distance generated and actual time safety critical distance, wherein, if the real-time range is respectively smaller than equal to the real-time alerting distance and the actual time safety critical distance, corresponding safety measure is taken.
- According to the method for claim 9, it is characterized in that, in the third step, the minimum range to collide between the operating mechanism of the industrial equipment and the staff can be avoided to generate just by being primarily based on the operating mechanism of each industrial equipment and the geometrical structure parameter of staff and real time kinematics information, be then based on the minimum range and determined the actual time safety critical distance and the real-time alerting distance.
- Method according to claim 9 or 10, it is characterized in that, in the third step, reaction time, person's development time and/or the real time position of system and the range of tolerable variance of the real time kinematics information are also considered when generating the real-time alerting distance and the actual time safety critical distance.
- The method according to any one of claim 9 to 11, it is characterized in that, in the four steps, if the real-time range between the operating mechanism of the industrial equipment and the staff is less than or equal to the real-time alerting distance, the operating mechanism of related industries equipment is then set to decelerate to predefined warning speed, if the real-time range between the operating mechanism of the industrial equipment and the staff is less than or equal to the actual time safety critical distance, keep related industries equipment completely out of service.
- The method according to any one of claim 9 to 12, it is characterized in that, in the first step, establishes the model of each industrial equipment and/or each staff and seek the operating mechanism of each industrial equipment and the real time kinematics information of each staff based on the model.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/092206 WO2018018574A1 (en) | 2016-07-29 | 2016-07-29 | Personnel protection system and operation method therefor |
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| CN111077868A (en) * | 2019-12-30 | 2020-04-28 | 国核电力规划设计研究院有限公司 | Smart power plant management and control system |
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| CN115174663A (en) * | 2022-09-06 | 2022-10-11 | 中国信息通信研究院 | Personnel safety monitoring method and device based on block chain |
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| CN109937119B (en) | 2022-10-21 |
| WO2018018574A1 (en) | 2018-02-01 |
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