CN116276972A - Safety protection method and system for robot and computer readable storage medium - Google Patents
Safety protection method and system for robot and computer readable storage medium Download PDFInfo
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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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
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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Abstract
The present invention relates to the field of robots, and in particular, to a method and a system for protecting safety of a robot, and a computer readable storage medium. The safety protection method of the robot comprises the following steps: a detection step, wherein a first sensor detects first information of a joint of the robot, and a second sensor detects second information of the joint; a calculation processing step, namely processing to obtain first motion information of the robot according to first information detected by a first sensor, processing to obtain second motion information of the robot according to second information detected by a second sensor, wherein the first motion information and the second motion information are similar motion information obtained by processing different data sources; judging whether to send a safety signal according to the comparison of the first motion information and the first threshold value, the comparison of the second motion information and the first threshold value and the comparison of the first motion information and the second motion information; and a safety protection step of performing a safety protection action in response to the safety signal.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a method and a system for protecting safety of a robot, and a computer readable storage medium.
Background
With the development of robot technology, the application of robots is more and more extensive, and the safety and reliability of robots are correspondingly and increasingly valued by people. In the past, industrial robots need to use fences to separate people from robots in application, but many application scenes now need to complete a task in a manner of blending people with robots. This means that the traditional fence separation mode is difficult to continue to be applicable, and a new protection mode is needed to ensure the safety of man-machine-objects.
Prior art robots often employ collision detection functionality to avoid the risk of robot collisions, which typically use six-dimensional force or capacitance sensors to detect proximity or contact between the robot and the robot. However, the six-dimensional force sensor or the capacitive sensor has limited detection precision, so that the accuracy is low, and the safety of personnel in the use process of the robot cannot be ensured.
Therefore, how to provide a safety protection method and system for a robot can ensure the accuracy of a detection result, thereby improving the safety and reliability of the robot and becoming a problem to be solved.
Disclosure of Invention
Aiming at the problems of insufficient safety and reliability of robots in the prior art, the invention provides a safety protection method of robots, which comprises the following steps: a detection step, wherein a first sensor detects first information of a joint of the robot, and a second sensor detects second information of the joint; a calculation processing step, namely processing to obtain first motion information of the robot according to first information detected by a first sensor, processing to obtain second motion information of the robot according to second information detected by a second sensor, wherein the first motion information and the second motion information are similar motion information obtained by processing different data sources; judging whether to send a safety signal according to the comparison of the first motion information and the first threshold value, the comparison of the second motion information and the first threshold value and the comparison of the first motion information and the second motion information; and a safety protection step of performing a safety protection action in response to the safety signal.
According to the technical scheme, the first motion information and the second motion information are similar motion information obtained by processing different data sources, the first motion information and the second motion information are respectively compared with the first threshold value, error errors caused by relying on a single data source are avoided, and accuracy of detection results can be ensured. In addition, through comparing first motion information and second motion information, can in time discover the problem through comparing each other when first sensor or second sensor appear unusual, play the effect of mutual check-up, further improved the detection accuracy. Therefore, the robot has enough detection accuracy and safety redundancy, thereby being beneficial to improving the safety and reliability of the robot.
Preferably, the first motion information and the second motion information are any one or more of a position, a speed, an acceleration, a moment, a momentum, and a power of a joint or a tip of the robot.
According to the technical scheme, the first motion information and the second motion information are of multiple types, and the multiple types of motion information of the robot can be monitored. When certain motion information of the robot is abnormal, the safety protection action can be found and implemented in time, and the safety of the robot is improved. In addition, the first motion information and the second motion information can be a plurality of types of motion information, so that the safety monitoring range is enlarged, the safety monitoring method can be applied to more application scenes, and the safety monitoring requirements of certain application scenes on different motion information are met.
Preferably, the angular velocity of the joint i detected by the second sensor is ω i The joint velocity of the joint i is as follows 2i ，
joint position q of joint i 2i ，
q 2i ＝∫dq 2i dt+q 0i
q 0i Is the initial joint position of joint i.
According to the above technical scheme, the angular velocity omega of the joint i is detected according to the second sensor i The joint position q at the joint i can be calculated 2i To determine whether the joint position of the joint i is normal.
Preferably, the safety protection action is any one or more of an early warning, a deceleration, a class 0 stop, a class 1 stop, or a class 2 stop.
According to the technical scheme, the protection effect on the user can be improved by adopting the safety protection action, and the damage of the robot to the user is effectively avoided.
Preferably, the first sensor is an encoder, arranged on the input side or the output side of the joint.
According to the technical scheme, the encoder is arranged on the input side or the output side of the joint, so that the joint position or the joint speed can be detected, and a plurality of types of motion information can be calculated through the joint position or the joint speed, so that the monitoring range of the motion information is enlarged.
Preferably, the first sensor further comprises a motor current sensor detecting a motor output torque.
According to the technical scheme, the motor current sensor can detect the motor output torque, can be used for comparing joint torque information later, and can timely find and send a safety signal when the joint torque information is abnormal.
Preferably, the second sensor is an angular velocity sensor, and is mounted on an output device of each joint of the robot.
According to the technical scheme, the angular velocity sensor can detect angular velocity components in Cartesian space under the motion state of each joint of the robot, and multiple types of motion information can be calculated through the angular velocity components, so that the monitoring range of the motion information is enlarged.
The invention also provides a safety protection system of the robot, which comprises: the first sensor is arranged at a joint of the robot and used for detecting first information of the joint; the second sensor is arranged at the joint and used for detecting second information of the joint; the calculation processing unit is used for processing and obtaining first motion information of the robot according to first information detected by the first sensor and obtaining second motion information of the robot according to second information detected by the second sensor, wherein the first motion information and the second motion information are similar motion information obtained by processing different data sources; the judging unit judges whether to send a safety signal according to the comparison of the first motion information and the first threshold value, the comparison of the second motion information and the first threshold value and the comparison of the first motion information and the second motion information; and a safety protection unit for performing a safety protection operation in response to the safety signal.
The invention also provides a computer readable storage medium which stores processor readable instructions, and one or more processors execute the safety protection method of the robot according to any of the above technical schemes by running the processor readable instructions.
Drawings
Fig. 1 is a schematic front view of a robot according to a first embodiment of the present invention.
Fig. 2 is a schematic block diagram of a joint according to a second embodiment of the present invention.
Fig. 3 is a control block diagram of a safety protection system of a robot according to a second embodiment of the present invention
Fig. 4 is a flowchart of a safety protection method of a robot according to a second embodiment of the present invention.
Reference numerals: 100 robots; 101 a security protection system; a 111 base; 112 joints; 113 mechanical arm; 114 means; a 211 motor; 212 a decelerator; 21 input side; 22 output side; 213 a first sensor; 214 output means; a second sensor 215; 1, a calculation processing unit; 2, judging unit; and 3, a safety protection unit.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
First embodiment
The present embodiment provides a safety protection system 101 of a robot 100, fig. 1 is a schematic front view of the robot 100 according to a first embodiment of the present invention, and as shown in fig. 1, the robot 100 includes a base 111 and a robot arm 113, and the robot 100 generally has one or more robot arms 113 for connecting a tool 114 and the base 111. The joint 112 is formed between the base 111 and the arm 113 or between the arm 113 and the arm 113, and the joint 112 mainly serves to connect, transmit, and drive the arm 113 to move along a desired trajectory.
Fig. 2 is a schematic block diagram of the joint 112 according to the first embodiment of the present invention, and as shown in fig. 2, the motor 211 is in driving connection with the input side 21 of the reducer 212, and the output side 22 of the reducer 212 is in driving connection with the output device 214.
The safety protection system 101 (shown in fig. 3) of the robot 100 (shown in fig. 1) comprises a first sensor 213, the first sensor 213 being for detecting first information of the joint 112. In the present embodiment, the first sensor 213 is an encoder, and is provided on the input side 21 or the output side 22 of the joint 112, and the first information detected is the joint position or the joint velocity.
Further, a second sensor 215 is provided at the joint 112, the second sensor 215 being for detecting second information of the joint 112. In the present embodiment, the second sensor 215 is an angular velocity sensor, and is attached to the output device 214 of each joint 112 of the robot 100, and the second information detected is the joint angular velocity. In the present embodiment, the output device 214 is the robot arm 113. In other embodiments of the present invention, the output device 214 is not limited to the mechanical arm 113, but may be other device structures, such as a link, etc.
The encoder and the angular velocity sensor are convenient to install, and in other embodiments of the present invention, the first sensor 213 is not limited to the encoder, the second sensor 215 is not limited to the angular velocity sensor, and may be other types of sensors or even a combination of multiple types of sensors, for example, the first sensor 213 may also be a motor current sensor for detecting the output torque of the motor, or may be a combination of the encoder and the motor current sensor, which is not limited herein.
Fig. 3 is a control block diagram of the safety protection system 101 of the robot 100 according to the first embodiment of the present invention, and further, as shown in fig. 3, the safety protection system 101 of the robot 100 (shown in fig. 1) further includes a calculation processing unit 1, where the calculation processing unit 1 processes first motion information of the robot 100 according to first information detected by the first sensor 213, and processes second motion information of the robot 100 according to second information detected by the second sensor 215.
The first motion information and the second motion information are any one or more of the position, the speed, the acceleration, the moment, the momentum, and the power of the joint 112 or the tip of the robot 100. The first motion information and the second motion information are the same type of motion information obtained by processing different data sources, for example, when the first motion information is the joint position, the second motion information is also the joint position.
In other embodiments of the present invention, the first motion information and the second motion information are not limited to the above-listed positions, speeds, etc., but may be other types of data information.
The judging unit 2 judges whether or not to transmit the security signal based on the comparison of the first motion information with the first threshold value, the comparison of the second motion information with the first threshold value, and the comparison of the first motion information with the second motion information.
The first threshold value corresponds to the first motion information and the second motion information. For example, when the first motion information and the second motion information are joint positions, the first threshold value is also joint positions, and when the first motion information and the second motion information are joint speeds, the first threshold value is joint speeds.
The safety protection unit 3 performs a safety protection action in response to the safety signal. In this embodiment, the safety protection action is any one or more of early warning, deceleration, class 0 stop, class 1 stop, or class 2 stop. Class 0 stops, class 1 stops, and class 2 stops are described herein: class 0 stopping, namely immediately cutting off the power supply of the motor; class 1 stopping, namely controlling the motor to slow down to stop, and cutting off the power supply; and stopping in class 2, namely completely decelerating through a servo system, and not cutting off the power supply after stopping, wherein the motor is still in an electrified state.
The safety protection action can prompt a user to pay attention to the abnormality of the robot 100 in time, and limit or even stop the movement of the robot 100 when the robot 100 moves abnormally, thereby being beneficial to improving the safety of the robot 100 and protecting the personal safety of the user when using the robot 100.
Second embodiment
Fig. 4 is a flowchart of a safety protection method of the robot 100 according to a second embodiment of the present invention, and as shown in fig. 4, the present embodiment provides a safety protection method of the robot 100. The safety protection method of the robot 100 includes a detection step S1, a calculation processing step S2, a judgment step S3, and a safety protection step S4.
In the detection step S1, the first sensor 213 detects first information of the joint 112 of the robot 100, and the second sensor 215 detects second information of the joint 112.
After the detection step S1 is completed, the process proceeds to a calculation processing step S2. In the calculation processing step S2, first motion information of the robot 100 is obtained by processing according to the first information detected by the first sensor 213, second motion information of the robot 100 is obtained by processing according to the second information detected by the second sensor 215, and the first motion information and the second motion information are the same type of motion information obtained by processing different data sources.
Next, a decision step S3 is performed to decide whether to transmit a safety signal according to the comparison between the first motion information and the first threshold value, the comparison between the second motion information and the first threshold value, and the comparison between the first motion information and the second motion information. Specifically, if the first motion information is greater than the first threshold, or the second motion information is greater than the first threshold, or the difference between the first motion information and the second motion information is greater than the second threshold, any one of the three is satisfied, and the safety protection step S4 is performed. If none of them is satisfied, the robot 100 remains in normal operation.
The first motion information and the second motion information are similar motion information obtained by processing different data sources, the first motion information and the second motion information are respectively compared with a first threshold value, error errors caused by relying on a single data source are avoided, and accuracy of detection results can be guaranteed. In addition, through comparing first motion information and second motion information, can in time discover the problem through comparing each other when first sensor or second sensor appear unusual, play the effect of mutual check-up, further improved the detection accuracy.
In the security protection step S4, a security protection operation is performed in response to the security signal transmitted in the determination step S3. The specific implementation details of the security protection actions are described in detail in the first embodiment, and are not described here again.
In summary, the robot 100 has sufficient detection accuracy and safety redundancy, so that the safety and reliability of the robot 100 are improved.
The following is a specific use scenario of the safety protection method of the robot 100 in the present embodiment, where the robot 100 has i joints 112, i being joint numbers, and each joint 112 is provided with a first sensor 213 (encoder) and a second sensor 215 (angular velocity sensor).
When the first motion information and the second motion information obtained by the processing in the calculating step S2 are joint positions, the safety protection system 101 of the robot 100 monitors the joint positions safely.
Specifically, the joint position q of each joint 112 is directly detected by the first sensor 213 1i . When q 1i When the value exceeds the first threshold, a safety signal is transmitted.
In the first sensor 213 of the present embodiment, which is attached to the output side 22 of the reduction gear, in other embodiments of the present invention, when the first sensor 213 is attached to the input side 21 of the reduction gear, it is necessary to divide the reduction ratio to obtain the joint position q 1i 。
The following is the joint angular velocity ω of the Cartesian space of the joint 112 detected by the second sensor 215 i Deriving joint position q 2i Is a method of (2).
First, joint 1, the Cartesian space detected by the second sensor 215 provided in joint 1 has a value ω 1 ＝(ωx 1 ωy 1 ωz 1 ) T Where T represents the transpose, its joint velocity can be expressed as:
wherein the method comprises the steps of
Is the z-axis unit vector of the joint 1 coordinate system.
Joint position q of joint 1 21 Can be obtained by joint velocity integration, namely:
q 21 ＝∫dq 21 dt+q 01
wherein q is 01 For the initial joint position of the joint 1, it should be noted that when the joint 1 is stationary, i.e. ω 1 Keeping the current joint position as the initial joint position q of the joint 1 while remaining within a small range of variation 01 。
The joint velocity of the homonymous joint 2 can be expressed as:
wherein the method comprises the steps of
The transformation from the joint 1 coordinate system to the joint 2 coordinate system can be obtained from the rotation angle of the joint 1.
Joint position q of joint 2 22 The method comprises the following steps:
q 22 ＝∫dq 22 dt+q 02
wherein q is 02 For the initial position of the joint 2, it is noted that when the joint 2 is stationary, i.e. ω 2 Keeping in a small range of variation, the current joint position is noted as the initial joint position q of joint 2 02 。
The derivation method is derived from the base 111, the joint 1, the joint 2, and the sequence to the joint i, and the joint velocity of the joint i can be obtained. The second sensor 215 detects the angular velocity of two adjacent joints of the robot 100, and the motion angle q of the joints is obtained through calculation 2i 。
The angular velocity of the joint i detected by the second sensor 215 is ω i Joint velocity of joint i is dq 2i ，
Joint position q of joint i 2i ，
q 2i ＝∫dq 2i dt+q 0i
q 0i For the initial joint position of joint i, when joint i is stationary, i.e. ω i Keeping in a small range of variation, the current joint position is noted as the initial joint position q of joint i 0i 。
When q 2i And when the value exceeds the first threshold value, sending a safety signal.
In addition, for joint position q 1i And q 2i Comparing, when q 1i And q 2i When the difference value of the safety signal is larger than the second threshold value, a corresponding safety signal is required to be sent.
When the first motion information and the second motion information obtained by the processing in the calculating step S2 are joint speeds, the safety protection system 101 of the robot 100 monitors the joint speeds safely. The first sensor 213 detects the joint position, and the first differential processing obtains the joint velocity dq 1i . When dq is 1i When the value exceeds the first threshold, a corresponding safety signal is transmitted.
By detecting the angular velocities of two adjacent joints of the robot 100 by the second sensor 215, the joint velocity dq can be obtained as in the operation method mentioned earlier 2i . When dq is 2i And when the value exceeds the first threshold value, sending a corresponding safety signal.
In addition, the velocity dq of the joint 1i And dq are as follows 2i Comparing, when dq 1i And dq are as follows 2i And sending a safety signal when the difference of the two is greater than a second threshold.
When the first motion information and the second motion information obtained by the processing in the calculating step S2 are joint moments, the safety protection system 101 of the robot 100 monitors the joint moments safely. The joint position q is detected by the first sensor 213 1i Angular velocity dq 1i Angular acceleration ddq obtained by differentiating the angular velocity again 1i The joint moment Y of the joint i can be obtained through a dynamics model 1i . When T is 1i And when the first threshold value is exceeded, sending a safety signal.
The angular velocity of two adjacent joints of the robot 100 is detected by the second sensor 215, and the joint position q is obtained by calculation 2i Angular velocity dq 2i Angular acceleration ddq obtained by differentiating angular velocity 2i The joint moment T of the joint i can be obtained through a dynamics model 2i . When T is 2i And when the first threshold value is exceeded, sending a safety signal.
In addition, to joint moment T 1i And T is 2i Comparing, when T 1i And T is 2i When the difference value of (2) is larger than the second threshold value, the corresponding safety signal is triggered.
In other embodiments of the present invention, the first sensor 213 comprises a motor current sensor in addition to an encoder, which converts to the actual joint moment T by a reduction ratio operation 0i . By comparison of T 0i And T is 1i 、T 2i And determines whether the joint moment of the robot 100 is abnormal. If the set threshold is exceeded, a safety signal is sent, where the set threshold may be a second threshold. Thereby, the data source of the joint moment can be increased, so that the accuracy of joint moment monitoring can be further improved, and the safety and reliability of the robot 100 are improved.
When the first motion information obtained by the processing in the calculation processing step S2 is the first end pose (x 1, y1, z1, A1, B1, C1), and the second motion information is the second end pose (x 2, y2, z2, A2, B2, C2), the safety protection system 101 of the robot 100 performs safety monitoring on the end pose. Detecting a joint position value q by the first sensor 213 1i The first end pose (x 1, y1, z1, A1, B1, C1) of the robot 100 is obtained by the orthometric calculation. The first end pose is compared with a first threshold (set limit pose), and if exceeded, a corresponding safety signal is sent.
The angular velocity of two adjacent joints of the robot 100 is detected by the second sensor 215, and the joint position q is obtained by calculation 2i The second end pose (x 2, y2, z2, A2, B2, C2) of the robot 100 is obtained by the orthometric calculation. The second end pose (x 2, y2, z2, A2, B2, C2) is compared with a first threshold value, and if exceeded, a corresponding safety signal is sent.
In addition, the first end pose (x 1, y1, z1, A1, B1, C1) is compared with the second end pose (x 2, y2, z2, A2, B2, C2), and a safety signal is sent when the difference between the first end pose (x 1, y1, z1, A1, B1, C1) and the second end pose (x 2, y2, z2, A2, B2, C2) is greater than a second threshold.
When the first motion information obtained by the processing in the calculation processing step S2 is the first end velocity (vx 1, vyl, vz 1) and the second motion information is the second end velocity (vx 2, vy2, vz 2), the safety protection system 101 of the robot 100 monitors the end velocity safely. The value detected by the first sensor 213 is calculated to obtain the joint speed dq of the robot 100 1i The first end velocity (vx 1, vy1, vz 1) of the robot 100 can be calculated from the jacobian matrix. The first end speed (vx 1, vy1, vz 1) is compared with a first threshold value (set limit speed), and if exceeded, a corresponding safety signal is sent.
The angular velocity of two adjacent joints of the robot 100 is detected by the second sensor 215, and the joint velocity dq is obtained by calculation 2i The second end velocities (vx 2, vy2, vz 2) of the robot 100 can be calculated from the jacobian matrix. The second end speed (vx 2, vy2, vz 2) is compared with a first threshold value, and if exceeded, a corresponding safety signal is sent.
Furthermore, the first end speed (vx 1, vy1, vz 1) and the second end speed (vx 2, vy2, vz 2) are compared, and a safety signal is sent when the difference between the first end speed (vx 1, vy1, vz 1) and the second end speed (vx 2, vy2, vz 2) is greater than a second threshold value.
When the first motion information and the second motion information obtained by the processing in the calculating step S2 are the end force, the safety protection system 101 of the robot 100 monitors the end force safely. The joint moment value T obtained by the first sensor 213 1i From the force jacobian relation, a first end force N1 of the robot 100 can be obtained, the first end force N1 is compared with a first threshold value (set limit force), and if the first end force N1 exceeds the first threshold value, a corresponding safety signal is sent.
Joint moment value T obtained by second sensor 215 2i From the force jacobian matrix relationship, a second end force N2 of the robot 100 can be obtained, the second end force N2 is compared with the first threshold value, and if the second end force N2 exceeds the first threshold value, a corresponding safety signal is sent.
In addition, the first end force N1 is compared with the second end force N2, and a safety signal is sent when the difference between the first end force N1 and the second end force N2 is greater than a second threshold.
When the first motion information and the second motion information obtained by the processing in the calculating step S2 are the terminal momentum, the safety protection system 101 of the robot 100 monitors the terminal momentum safely. The first end momentum p1 of the robot 100 can be obtained by combining the end masses of the robot 100 by obtaining the combined velocity v1 from the first end velocities (vx 1, vy1, vz 1), and if the first end momentum p1 exceeds a first threshold value (limiting momentum value), a corresponding safety signal is sent.
The resultant velocity v2 is derived from the second end velocity (vx 2, vy2, vz 2) and, in combination with the end mass of the robot 100, a second end momentum p2 of the robot 100 can be derived, which second end momentum p2 if exceeding a first threshold value, sends a corresponding safety signal.
In addition, the first end momentum p1 is compared with the second end momentum p2, and a safety signal is sent when the difference between the first end momentum p1 and the second end momentum p2 is greater than a second threshold.
When the first motion information and the second motion information obtained by the processing in the calculating and processing step S2 are the total power output by the joint, the safety protection system 101 of the robot 100 monitors the total power output by the joint safely. The joint moment value T obtained by the first sensor 213 1i Velocity dq relative to the joint 112 1i The product of (1) yields the power of the joint 112, and the sum of the power of all joints 112 is the first total power P1 output by the joints of the robot 100. If the first total power P1 exceeds a first threshold value (defining a power value), a corresponding safety signal is transmitted.
Joint moment value T obtained by second sensor 215 2i Velocity dq relative to the joint 112 2i The product of (1) is the power of the joint 112, and the sum of the powers of all joints 112 outputs a second total power P2 for the joints of the robot 100. If the second total power P2 exceeds the first threshold value, a corresponding safety signal is transmitted.
In addition, the first total power P1 and the second total power P2 are compared, and when the difference between the first total power P1 and the second total power P2 is greater than the second threshold, a safety signal is transmitted.
The first motion information and the second motion information have a plurality of types, and the plurality of types of motion information of the robot 100 can be monitored. When a certain motion information of the robot 100 is abnormal, a safety protection action can be timely found and implemented, which is beneficial to improving the safety of the robot 100. In addition, the first motion information and the second motion information can be a plurality of types of motion information, so that the safety monitoring range is enlarged, the safety monitoring method can be applied to more application scenes, and the safety monitoring requirements of certain application scenes on different motion information are met.
In addition, the safety protection method of the robot 100 according to the present embodiment can perform safety monitoring on the plurality of types of motion information listed above by processing the information obtained by the first sensor 213 and the second sensor 215, and thus can perform safety monitoring on more types of motion information at a low cost.
The present embodiment also provides a computer readable storage medium (not shown) storing processor (not shown) readable instructions, and one or more processors executing the above-described safety protection method of the robot 100 by executing the processor readable instructions.
Those skilled in the art will appreciate that the specific features of the various embodiments may be adaptively split or combined. Such splitting or combining of specific technical features does not cause the technical solution to deviate from the principle of the present invention, and therefore, the technical solution after splitting or combining falls within the protection scope of the present invention. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (9)
1. A method for protecting safety of a robot, comprising:
a detection step, wherein a first sensor detects first information of a joint of the robot, and a second sensor detects second information of the joint;
a calculation processing step of processing to obtain first motion information of the robot according to the first information detected by the first sensor, and processing to obtain second motion information of the robot according to the second information detected by the second sensor, wherein the first motion information and the second motion information are similar motion information obtained by processing different data sources;
judging whether to send a safety signal according to the comparison of the first motion information and a first threshold value, the comparison of the second motion information and the first threshold value and the comparison of the first motion information and the second motion information;
and a safety protection step of responding to the safety signal and implementing safety protection action.
2. The method of claim 1, wherein the first motion information and the second motion information are any one or more of a position, a speed, an acceleration, a moment, a momentum, and a power of a joint or a tip of the robot.
3. The method according to claim 1, wherein the angular velocity of the joint i detected by the second sensor is ω i The joint velocity of the joint i is dq 2i ，
the joint position of the joint i is q 2i ，
q 2i ＝∫dq 2i dt+q 0i
q 0i Is the initial joint position of the joint i.
4. A method of safety protection of a robot according to any one of claims 1-3, wherein the safety protection action is any one or more of pre-warning, deceleration, class 0 stopping, class 1 stopping or class 2 stopping.
5. A method of protecting a robot according to any one of claims 1-3, wherein the first sensor is an encoder arranged on the input side or the output side of the joint.
6. The method of claim 5, wherein the first sensor further comprises a motor current sensor that detects a motor output torque.
7. A method of protecting a robot according to any one of claims 1 to 3, wherein the second sensor is an angular velocity sensor mounted at an output device of each joint of the robot.
8. A safety protection system for a robot, comprising:
the first sensor is arranged at a joint of the robot and used for detecting first information of the joint;
a second sensor provided at the joint, detecting second information of the joint;
the calculation processing unit is used for processing and obtaining first motion information of the robot according to the first information detected by the first sensor, processing and obtaining second motion information of the robot according to the second information detected by the second sensor, wherein the first motion information and the second motion information are similar motion information obtained by processing different data sources;
a judging unit for judging whether to send a safety signal according to the comparison of the first motion information and a first threshold value, the comparison of the second motion information and the first threshold value, and the comparison of the first motion information and the second motion information;
and a safety protection unit for responding to the safety signal and implementing safety protection action.
9. A computer readable storage medium having stored thereon processor readable instructions, one or more processors executing the method of protecting a robot according to any of claims 1-7 by executing the processor readable instructions.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310091246.3A CN116276972A (en) | 2023-01-20 | 2023-01-20 | Safety protection method and system for robot and computer readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310091246.3A CN116276972A (en) | 2023-01-20 | 2023-01-20 | Safety protection method and system for robot and computer readable storage medium |
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| CN116276972A true CN116276972A (en) | 2023-06-23 |
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| CN202310091246.3A Pending CN116276972A (en) | 2023-01-20 | 2023-01-20 | Safety protection method and system for robot and computer readable storage medium |
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| CN (1) | CN116276972A (en) |
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