DE102008013400A1 - Locking areas determining method for industrial robots in room, involves representing area, which is not collision-endangered, and collision-endangered area in table, and determining locking areas of objects from represented areas - Google Patents

Abstract

The method involves transmitting computer-aided track data-relevant areas of objects in a two dimensional pattern/table in a logic system, and representing an area, which is not collision-endangered, and a collision-endangered area in the two dimensional pattern/table. Locking areas of the objects are determined from the represented areas. The collision-endangered area is divided into an area in which collision does not completely occur, and an area in which collision occurs. Tables of the objects are allocated with each other.

Description

The The invention relates to a method for determining locking areas at least one movable in space first object in terms on collision avoidance and cycle time reduction with one or several stationary or movable in space second objects. In practice, several robots often work very close to each other, to save space and time. To avoid collisions of the robots, have individual areas of the robot tracks against each other be locked.

Out EP 41 50 67 B1 there is known a method and an apparatus for anti-collision and collision protection for a multi-robot arrangement, comprising at least two elements which are either a robot, a supply line or a fixed obstacle and at least one of which is movable over a common surface of a predetermined size , with the features:
(a) which generates a world map and a plurality of element maps, each divided into an xy grid of equal-sized squares, each map having the same size as the common surface, to provide two-dimensional representations of elements projected onto that common surface receive; (b) associating each of the squares of each card with a given memory cell in an associated memory; (c) assumes the initial position of each element in its associated card by setting each memory cell belonging to a square in the associated element map, which is at least partially occupied by the element, to a first binary state; (d) transmitting the initial position of each element into the world map by combining the binary bit of each elementary map memory cell with the binary bit of the associated memory cell of the world map; (e) removing the initial position of a given element from the world map by a logical combination of the memory cells of the element map of that given element with the associated memory cells of the world map in response to a motion request for the given element; (f) transferring the movement zone representing the movement from the initial position to a desired end position of the predetermined element to a movement zone element map by setting all memory cells occupied by the movement zone to the predetermined state; g) combining the binary states of the associated memory cells of the motion zone element map and the world map by using a first type of logical OR operation; h) combining the binary states of the associated memory cells of the motion zone map and 50 of the world map using a second type of logical OR operation different from the first type of logical OR operation; i) indicating a collision when the binary states of one of the associated memory cells of the logical combinations resulting from these first and second types of logical OR operations are unequal.

In EP 43 96 55 A1 describes a robot control method for collision avoidance between a task-oriented programmed robot and objects with different mobility level, with which the computing time for a path planning of the robot is to be reduced. In the working space of the robot, object areas which are not accessible by the robot due to possible objects in the working space are determined for this purpose. Each object is assigned a priority that corresponds to its degree of mobility. Each object area is assigned the priority of the object on the basis of which it was determined. The object areas are stored by priority in an object table. When an object in the workspace of the robot moves away from its location, all object areas having the same or a lower priority than the object are deleted from the object table, whereupon all remaining objects of equal or lesser priority are again stored in the object table ,

A combinatorial distribution and sequencing algorithm of welding points for collision-free and minimum cycle time control of welding cells is described in DE 10 2004 024 327 A1 described. Here, robots are approximated by ball approximations, which completely contain the robots. Such results for each position of a robot, characterized by its axis angle.

The Low-collision timing minimization can be combinatorial Describe and solve the optimization problem. Result is an optimal configuration, d. H. a division of the welding points on the robots and a sequence in each of the subsets. rest collisions are eliminated by selecting the robot for each robot Configuration resulting angular sequence and from it the motion envelope calculated and for all robot pairings these movement covers cuts. The resulting collision area becomes for each robot a pairing locked by a lock signal as soon as the other robot enters this.

The above-mentioned solutions are aimed by calculation during the operation of the robot to ensure their collision freedom. However, this can affect the process flow unpredictably and lead to situations in which several robots are prevented from further forward movements (see above) called dead-locks or deadlocks).

In Industrial plants with sectionally reproducible web cycles Therefore, usually a logic system is connected, with the programmed simple locking areas the control of the plant in terms on the collision avoidance takes over. Everybody sets Object on its orbit logical channels on or off. At the switch-on is done before the query of this channel. The Object stops as long with the further trajectory, as the channel is still activated / switched on by another object.

Complicated surveillance the positions of all involved objects and / or a prediction for the further course of the course do not take place. The are exactly the points in the implementation of the aforementioned Solutions become effective.

The Determination of these locking areas is currently done exclusively by manually testing the participating webs against each other in the existing facility and / or within simulation environments. This process is very tedious and it is not guaranteed that all collision areas are detected. Furthermore, the known solutions have the disadvantage that the collision areas often are not minimal. Furthermore, it can not be assessed how far the selected locks differ from the minimum. That is, there can be no sound statement about existing Cycle time reserves are taken.

task The invention is a method for determining locking areas at least one movable object in space with one or more stationary or movable in space second objects to To develop collision avoidance and cycle time reduction, with the quick and efficient detailed overview of the provided to be locked areas of the objects becomes.

These The object is achieved with the features of the first claim. Advantageous embodiments emerge from the subclaims.

The inventive solution is based not on the approaches described in the prior art, but reveals completely new ways, the locking areas / signal points to determine on the object trajectories.

According to the invention in the method for determining locking areas for Avoiding collisions of at least one first movable in space Object with one or more other stationary or computer-aided in the space movable second objects Railway data relevant areas (coordinates) of at least a first Object and / or a second object in a two-dimensional Grid / a table of possible combinations of the objects transmitted to each other and in this grid / this table non-collision-prone areas and collision-prone areas Areas are shown (subdivided) and therefrom locking areas fixed (determined) of the first object and / or the second object. This simple and workable procedure makes it possible to the collision areas quickly and efficiently with high accuracy and to determine safety, thereby minimal locking areas set and significantly reduce the cycle times.

The Collision-prone areas are split for the first time in second areas where a collision is not complete is excluded and in third areas where a collision occurs.

there the second areas are advantageously releasable, thereby the locking areas are manually / individually limited can.

Farther are the third areas and possibly not releasable second Areas of locking areas summarized.

• – aus dem CAD-Modell/Ausmessungen des ersten und/oder zweiten Objektes,
• – aus der Lage des/der Objekte/s zueinander und/oder
• – aus den Bahndaten des ersten und/oder zweiten Objektes,

The path data-relevant regions (coordinates) of at least one first object and / or at least one second object are preferably determined from the following output data:

• From the CAD model / dimensions of the first and / or second object,
• From the position of the object (s) to each other and / or
• From the path data of the first and / or second object,

In particular, object pairs are formed from one or more first objects and / or one or more second objects, and subsequently the tables of several or all object pairs are included the billed.

The on collision hazard to be checked pairs of objects are in particular freely selectable, with the selection the object pairing and / or the release of second areas preferred done by manual selection.

The Summary of third areas to lock areas can be carried out manually or automatically.

The locked track sections are also in terms of start and finish the locking object-related in the table or tables shown.

It Now, the assignment of the lock-relevant data to logical Signals used to control the locking of the movable first and / or second objects serve and z. B. via a PLC are feasible.

It is in each case a lock-relevant signal channel for one or more object pairings used.

The locking-relevant data (object, path of the object, start and end of lock, logical channel) are exported and are now in the object control and / or the locking system (Logic, PLC) can be entered.

Favorable Way is based on a path sequence of each movable object the movement sequence of all movable objects within the table / n represented. This ensures that locks under Maintenance of the process to be done.

Farther is it possible in the table (s)? to display the movable objects.

Prefers becomes the method of determining the locks of the objects done offline, which is also essential to reduce the process times and equipment costs before and during the commissioning contributes.

The Invention will be described below with reference to embodiments and associated drawings explained in more detail. Show it:

1 : Overview / schematic representation of the determination of the areas to be locked, according to the paths of a robot pairing,

2 : Schematic representation of a table with locking areas,

3 : Table of a process lock when using a first object in the form of a first robot 1 and a second object in the form of a second robot 2 .

4 : Block diagram of the procedure.

For the calculation of the collision areas, z. B. a first object in the form of a first industrial robot 1 and a second object in the form of a second industrial robot 2 (both movable in space) requires data that can be obtained from a variety of sources in a short time and that are shown in the following table: data type sources Availability Robot types (geometry) CAD model / measuring → library after planning (before construction); simple correction of deviations after construction (or minimum distance) Tools and obstacles (geometry) CAD or measurement Location in the reference system Model, techn. Drawing or measurement on site Support points (for signaling) Simulation model or robot directly after offline planning; very fast adaptation to changes Worn tracks (joint data) Logging in the simulation or on the robot

After a short computing time, the offline system provides a detailed overview in the form of a table with all areas to be locked. 1 shows the relationships between the tracks R1 and R2 of the two objects of a pairing in the form of two robots 1 . 2 with their respective signal points and a graphical representation of the table. The track R1 of the robot 1 starts at point P0 and ends at point P3, the track R2 of the robot 2 also starts at point P0 and ends at point P4. The tracks R1 and R2 overlap in a collision-prone area. The tracks R1 and R2 of the robot 1 . 2 are transferred to a table, from which now the collision-prone areas can be seen. In this case, collision-free first areas are shown in white and collision-prone second and third areas are black. The signal points are marked in the form of the grid.

The collision-prone second and third areas can also be identified in more detail (eg with different colors or shades). In 2 is visible: first areas (white), second areas (hatched) and third areas (black). The (exemplary) locking area resulting from these collision areas is outlined in bold. The corresponding signal points on the individual object lanes are marked at the edges. The latter data can be transferred quickly and easily to the logic system (PLC).

The The system is not based on a robot manufacturer or a simulation system limited. Besides the collision check it is also possible with a given safety distance with to check the process of the invention.

With This offline solution makes it possible to be independent determine the collision areas of the system and thus required Then transfer locking areas to the logic / PLC, as a result of which considerable time savings are recorded, since the on-site online teacher (takes a whole working day to determine the lock) can only begin when the attachment stands!

With The novel solution is thus already for the first time Construction of a plant an advance statement to the locking areas possible. After completion of a facility is fast and simply an adaptation to the real / calibrated plant engineering Configuration possible.

Advantageous continues to be that the areas more guaranteed and possible Collisions are extracted and the individual collision areas can be summarized by simple selection to lock areas.

The Areas with a probable collision can also be released manually (eg by mouse click).

The Planning the assignment of the logical channels based on the determined Tables is very comfortable on a PC via a corresponding Tool possible, which the tables of all robot pairs with each other charged.

Of the Run cycle can be presented and influenced, being simple is possible, all robot pairs and their paths in the To represent tables.

The visualization of the process interlock / path cycles in the table shows 3 , The run cycle can be displayed and influenced. As a result, the possibility is kept, locks targeted to STEU set the process flow. In 3 There are two tables.

object 1 has in this example two subroutines / paths (R1-1, R1-2) and object 2 only a subroutine (R2). Marked in the lane table are two latches (VB1, VB2). The dotted Line shows the coupled course of the two objects at the same time Start of their respective course of the course (in the table top left Corner). With VB1 will be for the subsequent process flow enforced a coupling of the objects without the need for tighter temporal ties.

In The tables are both the risk of collision of the individual areas between object signal points (areas) as well as the the support points (grid) recognizable. By calculation and / or manual selection (eg dragging with the mouse) becomes collision sections summarized to lock areas and the associated Basic signals (start and end of mutual interlocking for all involved objects on their respective path). compound Areas are also removable again. Rounding points are represented by gray lines. Should a signal begin here, This must be confirmed by the user, as at such points the geometric course of the web is changed.

In the process interlock will logically make the individual base signals Channels assigned and the locked track sections / combinations are immediately visible.

In the 3 Plotted curves represent the collision-free robot paths of the first robot 1 and the second robot 2 represents.

Should a channel can be used with more than one pair of robots very many inadvertent and possibly the process flow disturbing additional locks occur. It is intended that the user has to confirm this. Are all signals assigned, the distribution of signals on the individual robots and tracks are displayed. It is possible the associated Data (robot, path, start, end and channel) to export Simply enter them on site in the appropriate system.

In order to make the process interlock even more effective, the movement sequence of the objects can be determined by lines within the tables. 3 graphically visualized. This requires knowing the path sequence of each robot and can be intuitively communicated to the program. Alternative paths can also be considered. If the channel assignment of a signal (and thus of an interlocking area) is changed, this line also changes. Standstill phases of the robots can thus be easily read.

In 4 is the block diagram of the essential process sequence when using a first and second movable in space robot 1 . 2 shown, with both robots 1 . 2 form an object pair 3.

It first takes place from the output data of both robots 1 . 2 ie from their CAD model or its dimensions, from the position of the objects (robot 1 . 2 ) to each other and from their orbit data, in a stage 1, the data processing by means of a computer system. The data is collected in a level 2 in a table 5 and set in this the locking areas. Subsequently, in a third stage 3, the signal generation into logic signals.

These logic signals are used to input into the logic of the plant, in which the robots 1 . 2 are integrated, whereby the locking areas are defined in the system.

It is alternatively possible, the logic signals directly or via data exchange to a robot-specific controller forward.

The Solution according to the invention is varied for protection against collisions as well as to minimize cycle time of manufacturing and other systems in the planning and installation phase can be used, in which a collision of moving objects safely must be avoided.

1

first robot

2

second robot

R1

train of the first robot

R2

train of the second robot

a

first Area

b

second Area

c

third Area

P0, P3

signal points Beginning and end of the course R1, robot R1

P0, P4

signal points Beginning and end of the web R2, robot R2

VB1

first locking area

VB2

second locking area

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - EP 415067 B1 [0002]
• EP 439655 A1 [0003]
• - DE 102004024327 A1 [0004]

Claims (22)

Method for determining locking areas at least one movable in space first object with one or several other stationary or movable in space second Objects, whereby computer-supported path data relevant areas (Coordinates) of at least one first object and / or a second one Render object into a two-dimensional grid / table and in this grid / this table - Not collision-prone first areas (a) - and collision-prone areas represented (subdivided) and from this locking areas of the first object and / or the second object to be determined (determined). Method according to claim 1, characterized in that that collision - prone areas are divided, in - second Areas (b) where a collision is not complete is excluded and in - third areas (c), in which a collision occurs. Method according to claim 1 or 2, characterized that second areas (b) are (manually) releasable. Method according to one of claims 1 to 3, characterized in that the third areas (c) to locking areas are summarized. Method according to one of claims 1 to 4, characterized in that the railway data relevant areas (Coordinates) of at least one first object and / or the second Object can be determined from the following output data: - out the CAD model / dimensions of the first and / or second object, - out the position of the object (s) to each other and / or - out the orbit data of the first and / or second object. Method according to one of claims 1 to 5, characterized in that one or more first objects and / or one or more second object pairs of objects become. Method according to one of claims 1 to 6, characterized in that the tables of several or all Object pairs are offset against each other. Method according to one of claims 1 to 7, characterized in that the risk of collision to be checked Object pairs are freely selectable. Method according to one of claims 1 to 8, characterized in that the selection of the object pairing and / or the release of second areas (b) by manual selection respectively. Method according to one of claims 1 to 9, characterized in that the summary of the third Areas (c) to lock areas by manual selection or automated. Method according to one of claims 1 to 10, characterized in that the locked track sections regarding the start and end of the lock object-related and / or Object pair related represented. Method according to one of claims 1 to 11, characterized in that an assignment of the lock-relevant Data on logical signals (beginning and end) takes place. Method according to one of claims 1 to 12, characterized in that the logic signals for control the locking of the movable first and / or second objects serve. Method according to one of claims 1 to 13, characterized in that the logical signals via a PLC for controlling the locking of the movable first and / or serve second objects. Method according to one of claims 1 to 14, characterized in that in each case a Verriege relevant PLC channel for an object pairing. Method according to one of claims 1 to 15, characterized in that in each case a locking relevant PLC channel is used for more than one object pairing. Method according to one of claims 1 to 16, characterized in that the locking-relevant data be exported. Method according to one of claims 1 to 17, characterized in that the locking-relevant data can be entered into the object control or the PLC. Method according to one of claims 1 to 18, characterized in that the following locking relevant Data can be exported and entered into the object control and / or the PLC are: object, path of the object, start and end of the lock, logical channel. Method according to one of claims 1 to 19, characterized in that one based on a web sequence every movable object the movement of all movable objects within the table / n can be represented. Method according to one of claims 1 to 20, characterized in that in / the table / n standstill phases the movable objects are displayed. Method according to one of claims 1 to 21, characterized in that the determination of the locking areas taken offline.