CN112775971A - Method for improving safety performance, robot control cabinet and storage medium - Google Patents
Method for improving safety performance, robot control cabinet and storage medium Download PDFInfo
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- CN112775971A CN112775971A CN202110018011.2A CN202110018011A CN112775971A CN 112775971 A CN112775971 A CN 112775971A CN 202110018011 A CN202110018011 A CN 202110018011A CN 112775971 A CN112775971 A CN 112775971A
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- robot body
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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
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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
- B25J9/1694—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 application discloses a method for improving safety performance, a robot control cabinet and a storage medium, wherein the method comprises the following steps: after the robot control cabinet reads the motion instruction, judging whether a preset target exists in a preset area around the robot body or not; if the preset target exists, setting the motion parameters of the robot body according to a first strategy; if the preset target does not exist, setting the motion parameters of the robot body according to a second strategy; and planning the track according to the motion instruction and the set motion parameters. The method provided by the application can improve the safety of the robot body during operation.
Description
Technical Field
The present application relates to the field of robotics, and in particular, to a method for improving safety performance, a robot control cabinet, and a storage medium.
Background
With the application of industrial robots in production processes, security threats to people in the working processes of the robots gradually become a focus of attention, and in order to reduce injuries to people caused by misoperation, two main measures are adopted, namely a safety fence or a safety light curtain is placed around a robot body, when a person crosses the fence or the light curtain, the robot is stopped emergently to avoid the injuries to the people, but the arrangement of the safety fence can cause physical isolation of a working area, and is not beneficial to the deployment optimization of production line space; the second is to apply the collision detection function based on force sensor or dynamics calculation, the collision detection function is a passive protection function, after the robot collides with a person, the robot can stop the motion of the robot in time by sensing the collision behavior abnormally through torque feedback, however, although the collision detection can provide protection for people to a certain extent, the collision behavior cannot be prevented, and in order to ensure that the collision detection has higher sensitivity, expensive sensing equipment is often needed to be matched or the running speed of the robot is reduced, which affects the practicability of the function.
Disclosure of Invention
The technical problem mainly solved by the application is to provide a method for improving safety performance, a robot control cabinet and a storage medium, and safety of a robot body during operation can be improved.
In order to solve the technical problem, the application adopts a technical scheme that: a method of increasing safety performance is provided, the method comprising: after the robot control cabinet reads the motion instruction, judging whether a preset target exists in a preset area around the robot body or not; if the preset target exists, setting the motion parameters of the robot body according to a first strategy; if the preset target does not exist, setting the motion parameters of the robot body according to a second strategy; and planning a track according to the motion instruction and the set motion parameters.
In order to solve the above technical problem, another technical solution adopted by the present application is: there is provided a robot control cabinet, comprising a processor and a memory, wherein the processor is coupled to the memory, the memory stores program data, and the processor implements the steps of the method by executing the program data in the memory.
In order to solve the above technical problem, another technical solution adopted by the present application is: there is provided a computer readable storage medium storing a computer program executable by a processor to implement the steps in the above method.
The beneficial effect of this application is: this application is to whether there is preset the target in the region of predetermineeing around the robot, adopts the motion parameter of two kinds of different tactics setting robot body to can enough reduce the robot and predetermine the probability that the target bumps when predetermineeing the regional interior, the security performance when promoting the robot operation, also can avoid not influencing the normal operation of robot body when predetermineeing the target in predetermineeing the region.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:
FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a method for improving security performance according to the present application;
FIG. 2 is a schematic flow diagram of an embodiment of a robotic system;
FIG. 3 is a schematic flowchart of step S120 in an application scenario in FIG. 1;
FIG. 4 is a schematic flowchart of step S120 in FIG. 1 in another application scenario;
FIG. 5 is a schematic flow chart diagram illustrating another embodiment of a method for enhancing security performance according to the present application;
FIG. 6 is a schematic structural diagram of an embodiment of a robot control cabinet of the present application;
FIG. 7 is a schematic structural diagram of an embodiment of a computer storage medium according to the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1 and 2, fig. 1 is a schematic flowchart illustrating an embodiment of a method for improving safety performance according to the present application, and fig. 2 is a schematic flowchart illustrating an embodiment of a robot system 100, where the robot system includes a robot control cabinet 110 and a robot body 120, and the method includes:
s110: the robot control cabinet 110 reads the movement instruction.
Specifically, the robot control cabinet 110 is used to control one or more robot bodies 120 to move, and is a control party of the robot bodies 120.
The robot control cabinet 110 stores therein an operation program, the operation program includes a plurality of motion commands, each motion command corresponds to a sub-trajectory on the teaching trajectory, and each motion command includes a starting point, an intermediate auxiliary point, and a target point besides indicating a motion type (e.g., linear motion, circular arc motion, point-to-point motion, etc.), and the intermediate auxiliary point may be 0 (e.g., a linear line), 1 (e.g., a circular arc), or a plurality (e.g., a spline).
When the robot control cabinet 110 needs to control the robot body 120 to move, the robot control cabinet 110 runs the stored running program and reads the motion commands one by one, and meanwhile, after reading one motion command each time, the robot control cabinet 110 controls the robot body 120 to run along the sub-track corresponding to the motion command.
S120: it is determined whether a preset target exists in a preset area around the robot body 120 at present.
If the determination result is yes, the process proceeds to step S130, and if the determination result is no, the process proceeds to step S140.
Specifically, the preset target may be a human, an animal, a device, or the like. When there is a preset target in a preset area around the robot body 120, there is a risk that the robot body 120 collides with the preset target, and there is a possibility that the preset target and the robot body 120 are damaged.
The preset area may be a peripheral cylindrical area (as shown in fig. 2, the predicted area is a dashed area) centered on the robot body 120, or may be a preset area in the advancing direction of the robot body 120.
With reference to fig. 2 and fig. 3, in an application scenario, step S120 specifically includes:
s121: an image or video of the preset area captured by the capturing device 130 is received.
Specifically, the collection device 130 is a camera, and the collection device 130 establishes a communication connection with the robot control cabinet 110, where the collection device 130 may collect an image of a preset area, and at this time, the collection device 130 may shoot the preset area according to a certain time interval (for example, 5 seconds, 10 seconds, and the like), and send the shot image to the robot control cabinet 110 in real time, or the collection device 130 may collect a video of the preset area, and at this time, the collection device 130 sends the collected video to the robot control cabinet 110 in real time.
S122: and judging whether a preset target exists in the current preset area or not according to the image or the video.
Specifically, after receiving the image or video sent by the capture device 130, the robot control cabinet 110 identifies the image or video, so as to determine whether a preset target exists in the preset area.
It should be noted that, when the acquiring device 130 acquires an image or a video, the acquired image or video may include other regions around the preset region in addition to the preset region, so that a corresponding relationship between the image or the video acquired by the acquiring device 130 and the actual physical space is established in advance, and specifically, the preset region and a pixel region in the image or the video may be associated with each other, so that the associated pixel region corresponds to the preset region in the actual physical space, and when the image or the video is analyzed, when a preset target is detected to exist in the pixel region, it is indicated that the preset target exists in the preset region.
In the application scenario, in order to improve the recognition efficiency, a recognition model may be trained in advance, and after an image or a video is input into the recognition model, the recognition model may automatically recognize whether a preset target exists in the image or the video.
As can be seen from the above, in the above application scenario, the robot control cabinet 110 is integrated with a function of identifying an image or a video, but in another application scenario, the robot control cabinet 110 is not provided with the function of identifying an image or a video, and at this time, another device needs to be provided, and specifically, referring to fig. 4, in another application scenario, step S120 specifically includes:
s123: reading a port signal on the detection device.
If the port signal is the first signal, the process proceeds to step S124, and if the port signal is the second signal, the process proceeds to step S125.
The detection device collects and identifies images or videos of a preset area, and then sets a port signal as a first signal if a preset target is identified to exist in the preset area, otherwise sets the port signal as a second signal.
Specifically, the detection device includes a capturing device such as a camera and a processor for analyzing and recognizing an image or video captured by the capturing device, the processor establishes a communication connection with the robot control cabinet 110, and when the processor recognizes the image or video captured by the capturing device and determines that a preset target exists in a preset area, a signal of one port is set as a first signal, otherwise, the signal of the port is set as a second signal. The first signal is one of a high level signal and a low level signal, and the second signal is the other of the high level signal and the low level signal.
The process of identifying the image or the video by the processor is the same as the process of identifying the image or the video by the robot control cabinet 110, which can be referred to the above embodiment specifically, and is not described herein again.
S124: and judging that a preset target exists in the current preset area.
S125: and judging that no preset target exists in the current preset area.
When the robot control cabinet 110 reads that the port signal on the detection device is the first signal, it indicates that the preset target exists in the preset area, and when the port signal on the detection device is the second signal, it indicates that the preset target does not exist in the preset area.
In other application scenarios, step S120 may specifically be: whether a trigger signal sent by the detection equipment is received within a preset time (for example, within 5 seconds and 10 seconds) is judged, if yes, a preset target is judged to exist, and if not, the preset target is judged not to exist. Specifically, at this time, after the detection device recognizes the image or the video, if a preset target exists in the preset area, the detection device sends a trigger signal to the robot control cabinet 110, otherwise, the trigger signal is not sent. After the robot control cabinet 110 reads the motion instruction, if it is found that the trigger signal sent by the detection device is received within the preset time, the process goes to step S130, and if it is found that the trigger signal sent by the detection device is not received within the preset time, the process goes to step S140.
How to determine whether the preset target exists in the preset area is explained above, and then if the preset target exists in the preset area, the step S130 is performed, and if the preset target does not exist, the step S140 is performed.
S130: the motion parameters of the robot body 120 are set according to a first strategy.
Specifically, setting the motion parameters of the robot body 120 according to the first policy may reduce the probability that the robot body 120 collides with a preset target.
Among the motion parameters of the robot body 120 are parameters related to the motion of the robot body 120, such as speed, acceleration, jerk, collision detection sensitivity, and the like.
S140: the motion parameters of the robot body 120 are set according to a second strategy.
Specifically, the second strategy is different from the first strategy, and setting the motion parameters of the robot body 120 according to the second strategy does not affect the normal operation of the robot body 120.
That is to say, for the two situations of the preset target existing and not existing in the preset area, the robot body 120 moves with different motion parameters, for example, when the preset target does not exist in the preset area, the robot body 120 operates at a normal speed without affecting the operation, and when the preset target exists in the preset area, the robot body 120 operates at a speed less than the normal speed, so that the probability of collision with the preset target is reduced, and the safety performance of the robot body 120 during operation is improved.
In an application scenario, the motion parameters include a maximum operating speed of the robot body 120 and/or a collision detection sensitivity. The maximum operation speed refers to an operation speed that cannot be exceeded when the robot body 120 operates, and specifically may be an operation speed that cannot be exceeded by each joint axis, or may be a maximum speed that cannot be exceeded by a terminal end of the robot body 120 (a joint axis farthest from a base of the robot body 120), that is, a maximum speed that cannot be exceeded by a TCP (Tool center Point) of the robot body 120. The collision detection sensitivity is mainly used to detect whether the robot body 120 collides, so as to reduce the influence of the collision force on the robot body 120, and is inversely proportional to the operation speed of the robot body 120, i.e., the higher the collision detection sensitivity is, the lower the operation speed of the robot body 120 is.
Wherein, when the operation parameter includes the maximum operation speed of the robot body 120, the step S130 specifically includes: setting the maximum operation speed of the robot body 120 to a minimum speed of both a preset safe speed and a maximum operation speed set by an operation program; step S140 specifically includes: the maximum operation speed of the robot body 120 is set to the maximum operation speed set by the operation program.
Specifically, the maximum operation speed of the robot body 120 herein refers to the maximum operation speed of the end of the robot body 120, i.e., the maximum operation speed of the TCP.
Meanwhile, the safety speed is preset, and when the preset target exists in the preset area, the maximum operation speed allowed by the robot body 120 is set, that is, when the robot body 120 operates at the safety speed, even if the preset target exists in the preset area, the probability that the robot body 120 collides with the preset target is low, and the robot body 120 can also perform safe operation.
The maximum operation speed set by the operation program is set by a designer when the designer writes the program, and is the maximum speed that each performance of the robot body 120 can allow the robot body 120 to operate, that is, regardless of whether a preset target exists in a preset area, if the robot body 120 operates at the maximum operation speed that exceeds the maximum operation speed set by the operation program, the performance of the robot body 120 may be affected.
In summary, when the preset target exists in the preset area, the operation speed of the robot body 120 cannot exceed the safe speed nor the maximum operation speed set by the operation program, and when the preset target does not exist in the preset area, the operation speed of the robot body 120 only needs to not exceed the maximum operation speed set in the operation program.
In other application scenarios, when it is ensured that the preset safe speed is always less than the maximum operating speed set by the operating program, step S130 may be to directly set the maximum operating speed of the robot body 120 as the safe speed.
Wherein, when the operation parameter includes the collision detection sensitivity of the robot body 120, the step S130 specifically includes: determining the minimum speed of the preset safe speed and the maximum running speed set by the running program; setting the collision detection sensitivity of the robot body 120 to match the minimum speed; step S140 specifically includes: the collision detection sensitivity of the robot body 120 is set to match the maximum operation speed set by the operation program.
Specifically, after the maximum operation speed of the robot body 120 is determined, the collision detection sensitivity is set to match the maximum operation speed of the robot body 120. The mapping relationship between the collision detection sensitivity and the maximum operation speed is preset and stored, and then after the maximum operation speed of the robot body 120 is determined, the collision detection sensitivity corresponding to the maximum operation speed is searched in the stored mapping relationship, and then the collision detection sensitivity is set.
It should be noted that, after determining the maximum operation speed of the robot body 120, the maximum operation speed of the robot body 120 is not set, but is only set for subsequently setting the collision detection sensitivity, that is, the motion parameters only include the collision detection sensitivity of the robot body 120.
How to determine the maximum operating speed of the robot body 120 is the same as that described above may be specifically referred to the above related contents, and details are not described herein again.
S150: and planning the track according to the motion instruction and the set motion parameters.
Specifically, after the motion parameters are set, trajectory planning can be performed according to the motion instructions and the set motion parameters, specifically, which motion trajectory the robot body 120 moves at which speed is planned, and after the planning is completed, the robot body 120 is controlled to move.
Meanwhile, after the planning is completed, the robot body 120 is controlled to move, and the robot control cabinet 110 reads a next movement command, and then returns to step S110, that is, after one movement command is read each time, steps S120 to S150 are performed.
As can be seen from the above, in the embodiment, for whether the preset target exists in the preset area around the robot body 120, two different strategies are adopted to set the motion parameters of the robot body 120, so that the probability of collision between the robot body 120 and the preset target can be reduced when the preset target exists in the preset area, the safety performance of the robot body 120 during operation is improved, and the influence on the normal operation of the robot body 120 when the preset target does not exist in the preset area can be avoided.
Referring to fig. 5, fig. 5 is a schematic flow chart of another embodiment of the method for improving safety performance of the present application, and with reference to fig. 2, the method includes:
s210: the robot control cabinet 110 reads the movement instruction.
S220: it is determined whether a preset target exists in a preset area around the robot body 120 at present.
If the determination result is yes, the process proceeds to step S230, and if the determination result is no, the process proceeds to step S240.
S230: the TCP maximum speed is set to min (safe speed, maximum operating speed set by the operating program).
The TCP maximum speed is the maximum speed of the end of the robot body 120, and min () is a minimum function.
S240: the TCP maximum speed is set equal to the maximum operating speed set by the operating program.
S250: the collision detection sensitivity of the robot body 120 is set to match the TCP maximum speed.
S260: and planning the track according to the motion instruction and the set motion parameters.
After step S260 is executed, step S270 is executed while returning to step S210.
S270: and controlling the robot body 120 to run along the planned track.
Specifically, in the present embodiment, the motion parameters include both the maximum operation speed and the collision detection sensitivity, and the maximum operation speed refers to the maximum operation speed of the distal end of the robot body 120.
It should be noted that other steps in this embodiment are the same as those in the above embodiment, and reference may be specifically made to the above embodiment, which is not described herein again.
In other embodiments, when the motion parameter includes a maximum operation speed, setting the motion parameter of the robot body 120 according to the first policy may further be: setting the maximum operation speed of the robot body 120 as the first speed value, and setting the motion parameters of the robot body 120 according to the second strategy may also be: the maximum operation speed of the robot body 120 is set to a second speed value, and the first speed value is less than the second speed value.
In other embodiments, when the motion parameters include collision detection sensitivity, setting the motion parameters of the robot body 120 according to the first strategy may also be: setting the collision detection sensitivity of the robot body 120 to a first value, setting the motion parameters of the robot body 120 according to the second policy may also be: the collision detection sensitivity of the robot body 120 is set to a second value, and the first value is greater than the second value.
In summary, how to set the motion parameters of the robot body 120 according to the first policy and how to set the motion parameters of the robot body 120 according to the second policy are not limited in this application as long as the probability of collision between the robot body 120 and the preset target can be reduced after the motion parameters of the robot body 120 are set according to the first policy, and normal operation of the robot body 120 can not be affected after the motion parameters of the robot body 120 are set according to the second policy.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an embodiment of the robot control cabinet of the present application, the robot control cabinet 200 includes a processor 210 and a memory 220, the processor 210 is coupled to the memory 220, and the processor 210 controls itself and the memory 220 to implement the steps of any one of the above methods when operating, wherein detailed steps can be referred to the above embodiment and are not described herein again.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an embodiment of a computer-readable storage medium according to the present application. The computer-readable storage medium 300 stores a computer program 310, the computer program 310 being executable by a processor to implement the steps of any of the methods described above.
The computer-readable storage medium 300 may be a device that can store the computer program 310, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, or may be a server that stores the computer program 310, and the server can send the stored computer program 310 to another device for movement, or can move the stored computer program 310 by itself.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (10)
1. A method for enhancing security, the method comprising:
after the robot control cabinet reads the motion instruction, judging whether a preset target exists in a preset area around the robot body or not;
if the preset target exists, setting the motion parameters of the robot body according to a first strategy;
if the preset target does not exist, setting the motion parameters of the robot body according to a second strategy;
and planning a track according to the motion instruction and the set motion parameters.
2. The method of claim 1, wherein the motion parameters comprise a maximum operating speed of the robot body and/or a collision detection sensitivity.
3. The method of claim 2,
the step of setting the motion parameters of the robot body according to the first strategy includes:
setting the maximum running speed of the robot body as the minimum speed of the preset safe speed and the maximum running speed set by a running program;
the step of setting the motion parameters of the robot body according to a second policy includes:
setting the maximum operation speed of the robot body as a maximum operation speed set by the operation program.
4. The method of claim 3,
the step of setting the motion parameters of the robot body according to the first strategy further includes:
setting a collision detection sensitivity of the robot body to match the minimum speed;
the step of setting the motion parameters of the robot body according to a second policy further includes:
setting the collision detection sensitivity of the robot body to match a maximum operation speed set by the operation program.
5. The method of claim 2,
the step of setting the motion parameters of the robot body according to the first strategy includes:
determining the minimum speed of the preset safe speed and the maximum running speed set by the running program;
setting a collision detection sensitivity of the robot body to match the minimum speed;
the step of setting the motion parameters of the robot body according to a second policy includes:
setting the collision detection sensitivity of the robot body to match a maximum operation speed set by the operation program.
6. A method according to any of claims 2-5, characterized in that the maximum operating speed of the robot body is the maximum operating speed of the robot body extremity.
7. The method of claim 1, wherein the step of determining whether the preset target exists in a preset area around the robot body comprises:
receiving an image or video of the preset area acquired by acquisition equipment;
and judging whether the preset target exists in the preset area or not according to the image or the video.
8. The method of claim 1, wherein the step of determining whether the preset target exists in a preset area around the robot body comprises:
reading a port signal on the detection equipment;
if the port information on the detection equipment is a first signal, judging that the preset target exists in the preset area at present;
if the port information on the detection device is a second signal, judging that the preset target does not exist in the preset area currently;
the detection device collects and identifies images or videos of the preset area, and then sets the port information as the first signal if the preset target is identified to exist in the preset area, otherwise sets the port signal as the second signal.
9. A robot control cabinet comprising a processor coupled to a memory, the memory having program data stored therein, and a memory, the processor implementing the steps of the method according to any of claims 1-8 by executing the program data in the memory.
10. A computer-readable storage medium, in which a computer program is stored which is executable by a processor for carrying out the steps of the method according to any one of claims 1 to 8.
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| CN114986523A (en) * | 2022-08-02 | 2022-09-02 | 北京歌锐科技有限公司 | Robot speed control method and device, storage medium and electronic equipment |
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| CN108527370A (en) * | 2018-04-16 | 2018-09-14 | 北京卫星环境工程研究所 | The man-machine co-melting safety control system of view-based access control model |
| DE102018112360B3 (en) * | 2018-05-23 | 2019-09-19 | Franka Emika Gmbh | Area-dependent collision detection for a robot manipulator |
| CN109773793A (en) * | 2019-02-25 | 2019-05-21 | 太仓中科信息技术研究院 | Collision detecting system and method for cameras people |
| CN110561432A (en) * | 2019-08-30 | 2019-12-13 | 广东省智能制造研究所 | safety cooperation method and device based on man-machine co-fusion |
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| CN114986523A (en) * | 2022-08-02 | 2022-09-02 | 北京歌锐科技有限公司 | Robot speed control method and device, storage medium and electronic equipment |
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