CN116745083B - 安全视觉装置以及安全视觉系统 - Google Patents

安全视觉装置以及安全视觉系统

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Publication number
CN116745083B
CN116745083B CN202180084112.8A CN202180084112A CN116745083B CN 116745083 B CN116745083 B CN 116745083B CN 202180084112 A CN202180084112 A CN 202180084112A CN 116745083 B CN116745083 B CN 116745083B
Authority
CN
China
Prior art keywords
robot
dimensional
joint
estimation model
operator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202180084112.8A
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English (en)
Chinese (zh)
Other versions
CN116745083A (zh
Inventor
中田洋平
本高丈士
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Hitachi Ltd
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd, Fanuc Corp filed Critical Hitachi Ltd
Publication of CN116745083A publication Critical patent/CN116745083A/zh
Application granted granted Critical
Publication of CN116745083B publication Critical patent/CN116745083B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program 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
    • 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
    • B25J19/061—Safety devices with audible signals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G06T7/251—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving models
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/142—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using image capturing devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39082—Collision, real time collision avoidance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39098—Estimate stop, brake distance in predef time, then verify if in safe distance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40202—Human robot coexistence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30196—Human being; Person

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Geometry (AREA)
  • Manipulator (AREA)
  • Image Analysis (AREA)
CN202180084112.8A 2020-12-21 2021-12-14 安全视觉装置以及安全视觉系统 Active CN116745083B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020-211721 2020-12-21
JP2020211721 2020-12-21
PCT/JP2021/046118 WO2022138340A1 (ja) 2020-12-21 2021-12-14 安心ビジョン装置、及び安心ビジョンシステム

Publications (2)

Publication Number Publication Date
CN116745083A CN116745083A (zh) 2023-09-12
CN116745083B true CN116745083B (zh) 2025-12-16

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180084112.8A Active CN116745083B (zh) 2020-12-21 2021-12-14 安全视觉装置以及安全视觉系统

Country Status (5)

Country Link
US (1) US12409572B2 (https=)
JP (1) JP7427115B2 (https=)
CN (1) CN116745083B (https=)
DE (1) DE112021005409T5 (https=)
WO (1) WO2022138340A1 (https=)

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* Cited by examiner, † Cited by third party
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DE102023117654B4 (de) * 2023-07-04 2025-01-23 K.A. Schmersal Holding Gmbh & Co. Kg Verfahren zur Überwachung eines Schutzbereichs basierend auf einem Modellobjektdatensatz mit mindestens einem 3D-Modellobjekt
KR102772458B1 (ko) * 2024-11-19 2025-02-26 주식회사 엑스와이지 사람과 로봇 간의 충돌을 방지하기 위한 실시간 충돌 방지 방법 및 이를 이용한 실시간 충돌 방지 시스템

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CN101511550A (zh) * 2006-08-02 2009-08-19 皮尔茨公司 用于观测工业环境中的人员的方法
CN108527370A (zh) * 2018-04-16 2018-09-14 北京卫星环境工程研究所 基于视觉的人机共融安全防护控制系统
CN111372735A (zh) * 2017-11-17 2020-07-03 三菱电机株式会社 3维空间监视装置、3维空间监视方法及3维空间监视程序

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CN104476544A (zh) 2014-10-23 2015-04-01 广东工业大学 一种视觉伺服机械臂系统的自适应死区逆模型发生装置
US9855664B2 (en) * 2015-11-25 2018-01-02 Denso Wave Incorporated Robot safety system
CN109219856A (zh) * 2016-03-24 2019-01-15 宝利根 T·R 有限公司 用于人类及机器人协作的系统及方法
US11045955B2 (en) * 2016-05-26 2021-06-29 Mitsubishi Electric Corporation Robot control device
US10186130B2 (en) * 2016-07-28 2019-01-22 The Boeing Company Using human motion sensors to detect movement when in the vicinity of hydraulic robots
US11518051B2 (en) * 2017-02-07 2022-12-06 Veo Robotics, Inc. Dynamic, interactive signaling of safety-related conditions in a monitored environment
US11541543B2 (en) * 2017-02-07 2023-01-03 Veo Robotics, Inc. Dynamic, interactive signaling of safety-related conditions in a monitored environment
DE102017010718A1 (de) * 2017-11-17 2019-05-23 Kuka Deutschland Gmbh Verfahren und Mittel zum Betreiben einer Roboteranordnung
JP7058126B2 (ja) * 2018-01-12 2022-04-21 株式会社日立製作所 ロボット制御装置および自動組立システム
US10929654B2 (en) * 2018-03-12 2021-02-23 Nvidia Corporation Three-dimensional (3D) pose estimation from a monocular camera
JP7379373B2 (ja) * 2018-04-27 2023-11-14 アルコン インコーポレイティド 立体視覚化カメラ及び統合ロボットプラットフォーム
KR20200036088A (ko) * 2018-09-20 2020-04-07 한국전자통신연구원 상호 작용 행위 생성 장치 및 방법
JP2020093373A (ja) 2018-12-14 2020-06-18 オムロン株式会社 ロボット干渉判定装置、ロボット干渉判定方法、ロボット制御装置、およびロボット制御システム
JP7505791B2 (ja) * 2019-02-27 2024-06-25 ヴェオ ロボティクス， インコーポレイテッド 安全定格マルチセル作業空間マッピングおよび監視
JP7036078B2 (ja) * 2019-03-28 2022-03-15 オムロン株式会社 制御システム、制御方法、および制御ユニット
US11364629B2 (en) * 2019-04-27 2022-06-21 The Johns Hopkins University Data-driven position estimation and collision detection for flexible manipulator
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JP7409499B2 (ja) * 2020-06-10 2024-01-09 日本電気株式会社 画像処理装置、画像処理方法、及びプログラム
JP7478848B2 (ja) * 2020-12-21 2024-05-07 ファナック株式会社 教師データ生成装置、機械学習装置、及びロボット関節角度推定装置
JP7468871B2 (ja) * 2021-03-08 2024-04-16 国立大学法人 東京大学 ３ｄ位置取得方法及び装置

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CN101511550A (zh) * 2006-08-02 2009-08-19 皮尔茨公司 用于观测工业环境中的人员的方法
CN111372735A (zh) * 2017-11-17 2020-07-03 三菱电机株式会社 3维空间监视装置、3维空间监视方法及3维空间监视程序
CN108527370A (zh) * 2018-04-16 2018-09-14 北京卫星环境工程研究所 基于视觉的人机共融安全防护控制系统

Also Published As

Publication number Publication date
CN116745083A (zh) 2023-09-12
DE112021005409T5 (de) 2023-08-03
WO2022138340A1 (ja) 2022-06-30
US20230415363A1 (en) 2023-12-28
JPWO2022138340A1 (https=) 2022-06-30
JP7427115B2 (ja) 2024-02-02
US12409572B2 (en) 2025-09-09

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Effective date of registration: 20240805

Address after: Yamanashi Prefecture

Applicant after: FANUC Corp.

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Address before: Yamanashi Prefecture

Applicant before: FANUC Corp.

Country or region before: Japan

Applicant before: Hitachi, Ltd.

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