DE102018214439A1 - Method and device for securing a working area of a robot during a use phase - Google Patents

Abstract

The invention relates to a method and a device (10) for carrying out this method for securing a working area of a robot (12) during a use phase. It is provided that a working area up to 360 ° around the robot (12) in plane surface units (18 ) is divided as part of a coordinate system (16) and then a calibration with a coordinate system (16) of a locally installed scanning device (14) is completed. After alignment of the scanning device (14), it is possible that the working area can be completely scanned. The planar surface units (18) are divided into at least two differently weighted plane surface units (18) and non-weighted plane surface units (18) by the robot (12) as a function of its movement sequence. This happens dynamically and continuously before and during the usage phase. The weighted plane surface units (18) thereby represent a protective field. After this information has been sent via the protective field to the scanning device (14), it is able to perform a monitoring of the working area, whereby an undesired event can be registered in the protective field. Information about such an unwanted event is sent to the robot (12) or a secure controller. Depending on where the undesired event takes place, a corresponding specific event is triggered at the robot (12), wherein immediately after the reaction at the robot (12) a re-division of the plane surface units (18) takes place. Thus, a dynamic, continuous monitoring is provided with a correspondingly adapted shelter.

Description

The invention relates to a method for securing a working area of a robot during a use phase. In particular, the present invention relates to a method and an apparatus for practicing the method according to the preamble of claim 1 or the preamble of claim 10.

Robots are used in industry in both fully automated and semi-automated manufacturing. There are also known application fields in which humans and machines work together in a limited field. For example, such jobs from the hybrid assembly are known. A division of tasks between man and machine means that local areas are passed by both the robot and the human in a small space. In order to protect people and ensure a smooth flow of operations, various solutions and technical advances have been proposed in the technical field of non-fence manufacturing and human-robot collaboration in recent years.

So will in the DE 10 2006 048 163 suggested, for example, a camera-based monitoring of moving machines and / or moving machine elements for general collision prevention. A camera monitors an area of a machine by comparing the filmed image data with a previously created database. In addition, due to the correlation of the currently acquired image data with the database, both the current position of the machine is determined and the future positions reached within the stopping time are estimated. Based on this estimate, monitoring can then be generated based on estimated values. Based on the estimate, the size of security areas is determined.

A disadvantage could be considered in this approach, that first a comprehensive database must be produced, with no guarantee for the detection of all possible situations around the use of machinery can be given. Ultimately, the method is then based only on an estimate, which could also be inaccurate.

In the publication DE 10 2006 057 605 discloses a method and apparatus for monitoring a three-dimensional space using a sensor unit. The sensor unit comprises two cameras which can take two independent images of the space around the machine. The images are compared with each other to identify disjoint image areas in the images. In this case, an alarm signal is generated when a disjoint image area obscures a predetermined virtual protection area. Due to this signal, the machine can then be switched off if necessary. Advantageously, the protection area virtually generated by the sensor unit can be three-dimensional. A disadvantage could be felt that no very finely divided division is achieved here.

In the DE 10 2007 006 708 a method for securing a handling device is presented, wherein a current direction of movement of the device is aligned with a direction of a reference vector and in case of a deviation in a defined range a safety-relevant function is triggered.

The publication DE 10 2010 017 857 shows a 3D security device and a method for securing and operating at least one machine. First of all, three-dimensional image data is recorded from a workstation. In addition, movement patterns of the operator are determined at this workstation and issued on detection of a threat to the operator, a hedging command to the machine. A differentiated view of individual areas of the workplace is not explicitly provided.

In the DE 20 2009 012 589 An optoelectric sensor is presented. This sensor can detect a flat or volume-shaped protection area. In this case, receiving light beams are received from the protected area and then a transmitted light beam is emitted with a light emitter in those protection area by an object is located.

In the prior art, the size of the protective fields often has to be calculated as a "worst case". Added to this are considerations such as possible maximum velocities from the robot and extreme potential hazards to humans. A common disadvantage of the prior art solutions is that only static or fixed protection and warning fields exist, which are activated or deactivated via the robot or the PLC. So a protective field always remains large or it must be switched to smaller protective fields. Frequently, several scanners, cameras or sensor units are required because the protective fields are limited per scanner, for example. This can lead to cycle time losses in the case of area injuries, even though the robot is not in the danger zone. There are no fine divisions into dynamically weighted protective fields.

It is an object of the present invention to provide a method and an apparatus which make it possible to efficiently account for dynamic processes in securing robots.

In a preferred embodiment of the invention, it is provided that a method for securing a working area of a robot during a use phase is provided, which comprises the following steps. Dividing a working area up to 360 ° around the robot into plane units which are components of a coordinate system of the robot. Calibrating a coordinate system from a locally installed scanning device with the coordinate system of the robot. Aligning the scanner to fully scan the work area, the procedure includes the following additional steps. Dividing the plane units into at least two differently weighted plane units and non-weighted plane units by the robot depending on its course of motion and speed, where the weighting takes place dynamically and continuously before and during the use phase and weighted plane units constitute a protective field. Providing the information about the protective field to the scanning device. Monitoring the work area by means of the scanning device, whether an unwanted event takes place in the protective field. Sending the information from the scanning device over the protective field in which the unwanted event takes place to a secure controller or the robot. Discriminating in which one of the at least two differently weighted plane surface units the unwanted event takes place by the control device or the robot. Triggering a specific event at the robot by means of the control device or the robot as a function of the distinction and re-division of the individual plane units by the robot as a function of the triggered specific event in the robot.

In this way, it is possible to efficiently achieve a finer resolution of the 360 ° security space around the robot while at the same time creating flexible and dynamic protective fields. No independent static protective fields are required, but instead, from a large number of planar surface units, individual protective fields are created and permanently evaluated. The scanner does not need to generate dynamic protection fields, but only reports violations of the plane surface units. The reorganization in the last step in particular creates the basis for a very dynamic system. As soon as a new division of the plane surface units has been completed, the information is reevaluated and possibly lead dynamically already to another specific event at the robot.

Further preferred embodiments of the invention will become apparent from the remaining, mentioned in the dependent claims characteristics.

Thus, in one embodiment of the invention, it is provided that the specific triggered event in the robot depending on the distinction may be a standstill of the robot or an adaptation of a speed of the robot to a MRK speed or may be a reduction in a speed of the robot. Thus, depending on how close a plane surface unit is reported as injured on the robot, a corresponding specific event can be triggered. For example, there may be plane surface units which only provide a reduction in the speed of the robot. On the other hand, other plane surface units are associated with triggering a stop of the robot or an MRK speed in the event of a reported injury. Depending on the weighting, a suitable event is triggered accordingly, and after the fault has been rectified, a trouble-free robot travel is possible due to the immediate reassessment of the plane surface units. In this way, the particularly fine division ensures that not necessarily loss of tact time in any area injury are accepted and still an adequate safeguarding of the work area is guaranteed.

In a further preferred refinement of the invention, it is provided that the at least two differently weighted planar surface units each represent a first protective field region and a second protective field region, wherein the first protective field region is in the immediate vicinity of the robot and the second protective field region at least partially adjoins the first region , In summary, it can thus be determined with the robot or the controller which specific event is to be assigned to which protective field area. At this level, therefore, a particularly fast and dynamic evaluation of the plane surface units is possible, which is particularly advantageous for fast robot travel.

In another preferred embodiment of the invention it is provided that the undesired event is that a person moves into the working area of the robot. In the protective fence-less production and in particular in the human-robot collaboration such unwanted events are present. This can be both a calculated, deliberately caused injury to the shelter, as well as an accidental injury in the For example, an accident. In the case of intentional induction, it is conceivable, for example, for a person to provide material in the outer security area and for the robot to reduce its speed for a short time. As soon as the human leaves this plane surface unit, due to the dynamic re-classification of the plane surface units, a previous working routine of the robot can be continued seamlessly and without cycle time loss.

It is also provided in a further preferred embodiment of the invention that the plane surface units are formed for example in the form of grid squares and have a minimum size of 100 x 100 mm, preferably of 200 x 200 mm, more preferably of 300 x 300 mm. Thus, a particularly fine distribution is guaranteed. Depending on the sequence of movements of the robot can thus be determined in a very subtle way, for example, whether a stop by the robot is really necessary or if possibly a speed reduction is considered sufficient.

Alternatively, the plane surface units can also have any other shape, for example in the form of rectangles, diamonds, trapezoids, parallelograms and the like. A combination of differently sized and / or different shapes having planar units is possible.

According to another embodiment of the invention, it is provided that, depending on the movement sequence, a position and a direction of travel of the robot, the minimum size of the protective field and possibly also the plane surface units is increased. In this way, an individualization depending on the work of the robot can be achieved. For any conceivable movement sequence, an individually matching security area can be defined, which constantly adapts dynamically during the work processes.

Furthermore, it is provided in another embodiment of the invention that the minimum size of the protective fields is increased depending on the sequence of movement, a position and a direction of travel of the robot. This ensures that an individual adaptation of the protection space is possible during the dynamic weighting.

It is also provided in a further preferred embodiment of the invention that the re-division of the individual plane units by the robot depending on the triggered specific event in the robot and in dependence of a distance of the plane surface unit, in which the unwanted event takes place, is performed to the robot. Thus, even better an individual adaptation of the shelter can be achieved.

It is also provided in a further preferred embodiment of the invention that the scanning device comprises at least one scanning element, wherein at least one scanning element is placed directly on the robot and optionally, especially if a shadow formed by equipment or other interference affecting the at least one scanning element on the robot, at least another scanning element is placed outside the robot. This ensures that the entire required workspace is scanned completely. Depending on the application, the final number of scan elements can thus be determined. Thus, a scan element placed on the robot can already be perceived as sufficient to provide a desired effect. Also, two scanning elements may be provided on the robot. If this is not considered sufficient, for example, if the at least one scanning element on the robot is hindered by shadowing by system parts or other interference, at least one further scanning element can be placed outside the robot. In other words, the scanning device may comprise only one scanning element, which is arranged on the robot. In addition, in another embodiment, the scanning device may also comprise a scanning element on the robot and at least one further scanning element outside the robot. Depending on how detailed the existing area of use of the robot must be detected in order to ensure reliable operation, the final number of scanning elements can be provided. The location or a place or the place outside the robot, where at least one further scanning element of the scanning device is provided, is not limited appreciably. Thus, this point could be at the same height of the robot directly on the outer edge of the entire protective field or even within an outer region of this protective field. Also, a positioning of the at least one further scanning element on a ceiling or a construction which is located above the work area, such as a cross member or other buildings, in this area is conceivable. It is ultimately important that the scanning device with the help of one scanning element or with the optionally several scanning elements scan the entire required working area completely to allow the presented in this present invention method mutatis mutandis.

In particular, even if a person entering the protection area covers one of the scan elements. It is important that there are sufficient scanners, for example, on the robot foot for the respective application. The final number of scanning elements depends on the particular application or on the environment to be protected. Depending on the application, scanning elements which scan in the direction of the robot are also necessary. In particular, these scanning elements are necessary if, by means of devices or hall columns, etc., a shadowing arises due to the scan elements installed, for example, on the robot base. In other words, the number of scanning elements is determined by the local conditions and the application. Premises: The entire coverage of the security area without shadowing due to plant components.

In another embodiment of the invention it is provided that a device for securing a working area of a robot during a use phase according to the method of claims 1 to 9 is provided, which comprises a robot, a scanning device and a control unit. This device can thus be adjusted individually depending on the desired embodiment and set up for the process so that an efficient and dynamic protection of the robot is ensured.

The various embodiments of the invention mentioned in this application are, unless otherwise stated in the individual case, advantageously combinable with each other.

• 1 eine Vorrichtung zur Absicherung eines Arbeitsbereiches eines Roboters;
• 2 eine Vorrichtung zur Absicherung eines Arbeitsbereiches eines Roboters während einer Verletzung;
• 3 eine Vorrichtung zur Absicherung eines Arbeitsbereiches eines Roboters während einer Verletzung.

The invention will be explained below in embodiments with reference to the accompanying drawings. Show it:

• 1 a device for securing a working area of a robot;
• 2 a device for securing a working area of a robot during an injury;
• 3 a device for securing a working area of a robot during an injury.

1 shows a device 10 to secure a working area of a robot 12 which is suitable for carrying out the method of claims 1 to 9. The working area is 360 ° around the robot 12 set around. A movement sequence of the robot 12 can thus take place in this entire work area, the robot 12 for example, rotates about its axis of rotation in all angular ranges or, for example, boom of the robot 12 be moved back and forth in this area. A combination of both processes is also possible. Ultimately, all movements that are in robots 12 during the operating phase, conceivable. In the 1 is the robot 12 set at a midpoint. However, workspaces could also be conceivable in which the robot 12 even within a certain frame shifts this center. Next to the robot 12 is a scanning device 14 to recognize. The scanning device 14 includes different scanning elements, with two of these scanning elements directly on the robot 12 are placed and one placed outside. The robot 12 stands, for example, in the middle of a coordinate system 16 , which into individual plane units 18 is divided, for example, are square vorgsehen, so that sets a checkerboard-like appearance. The chess board size depends on the size of the plane surface units 18 , which may for example have a minimum size of 200 x 200 mm. It is also conceivable that this minimum size of 200 x 200 mm at the same time a maximum size of the plane surface units 18 represents. Here is the coordinate system 16 both for a system by the robot 12 as well as from the scanning device 14 , This is in particular after the calibration of the respective systems by the robot 12 and the scanning device 14 the case. This calibration can also be used as an adjustment of the locations of the scanning device 14 and robots 12 in a coordinate system 16 be understood. The scanning device 14 For example, it can also be a sensor. The scanning device 14 is suitable for the entire work area of the robot 12 to scan. This electronic scanning can be accomplished in various ways and is not necessarily fixed only to a technical specification. The scanning device 14 For example, it can cover the work area with protective jets or the like from different locations and thus ensure a reliable output of the raw data with X / Y coordinates in the plane surface unit. Furthermore, the shows 1 a protective field area 22 in the immediate vicinity of the robot 12 and a protective field area 20 which is outside around the protective field area 22 is fixed. Both protective field areas 20 . 22 be through a variety of plane surface units 18 educated. Outside the protective field areas 20 . 22 is a person 24 to recognize which is in a marked plane surface unit 26 located. The scanning device 14 recorded this person 24 , But it comes because of the lack of weight in this plane surface unit 18 to no reaction for the robot 12 ,

2 shows a device 10 to secure a working area of a robot 12 during an injury. To recognize is a person 24 placed in a first protective field area 20 and thus indirectly a specific event in the robot 12 triggers. The marked plane surface unit 26 is from the scanning device 14 as a violation of a plane surface unit 18 registered. This information is sent to the robot 12 or a control device, not shown, sent there is another subdivision completed. In the example shown by 2 this is a violation of a plane surface unit 18 with the weighting speed reduction. The speed reduction is therefore already the specific event associated with the injury.

3 shows a device 10 to secure a working area of a robot 12 during an injury. To recognize is again a person 24 in a second protective field area 22 penetrates. The 3 is otherwise identical to the 2 , The marked plane surface unit 26 is now very close to the robot 12 , The scanning device 14 sends this violation to the robot 12 or a control device, not shown, where again there is a further subdivision completed. In the example shown by 3 this is a violation of a plane surface unit 18 with the weighting stop or MRK mode.

LIST OF REFERENCE NUMBERS

10

device

12

robot

14

scanning device

16

coordinate system

18

Plan unit area

20

first protective field area

22

second protective field area

24

person

26

marked plane surface unit

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102006048163 [0003]
• DE 102006057605 [0005]
• DE 102007006708 [0006]
• DE 102010017857 [0007]
• DE 202009012589 [0008]

Claims (10)

A method of securing a working area of a robot (12) during a use phase, comprising the steps of: • dividing a working area up to 360 ° around the robot (12) into plane units (18) which are components of a coordinate system (16) of the Robots (12) are; Calibrating a coordinate system (16) from a locally installed scanning device with the coordinate system (16) of the robot (12); • Aligning the scanner (14) to fully scan the work area; characterized in that the method comprises the following further steps: • dividing the plane surface units (18) into at least two differently weighted plane surface units (18) and non-weighted plane surface units (18) by the robot (12) as a function of its motion sequence and speed, wherein the weighting takes place dynamically and continuously before and during the use phase, and weighted plane surface units (18) represent a protective field; Providing the information about the protective field to the scanning device (14); • Monitoring the work area by means of the scanning device (14), whether an undesired event takes place in the protective field; Sending the information from the scanning device (14) via the protective field in which the undesired event takes place to a secure control device or the robot (12); • distinguishing in which of the at least two differently weighted plane surface units (18) the undesired event takes place by the control device or the robot (12); Triggering of a specific event at the robot (12) by means of the control device or the robot (12) as a function of the distinction and re-division of the individual plane units (18) by the robot (12) as a function of the triggered specific event at the robot (12). Method according to Claim 1 characterized in that the specific triggered event at the robot (12) may be a standstill of the robot (12) or an adaptation of a speed of the robot (12) to an MRC speed or a reduction in a speed of the robot Robot can be (12). Method according to one of the preceding claims, characterized in that the at least two differently weighted planar surface units (18) each represent a first protective field region (20) and a second protective field region (22), wherein the first protective field region (20) in the immediate vicinity of the robot (12 ) and the second protective field region (22) at least partially adjoins the first region (20) on the outside. Method according to one of the preceding claims, characterized in that the undesired event is that a person (24) moves into the working area of the robot (12). Method according to one of the preceding claims, characterized in that the plane surface units (18) have a minimum size of 100 x 100 mm, preferably of 200 x 200 mm, more preferably of 300 x 300 mm. Method according to one of the preceding claims, characterized in that the minimum size of the protective field is increased as a function of the sequence of movement, a position and a direction of travel of the robot (12). Method according to one of the preceding claims, characterized in that the minimum size of the protective fields (20, 22) is increased as a function of the sequence of movement, a position and a direction of travel of the robot (12). Method according to one of the preceding claims, characterized in that the re-division of the individual plane surface units (18) by the robot (12) in dependence on the triggered specific event at the robot (12) and in dependence of a distance of the plane surface unit (18), in the the unwanted event takes place to which robot (12) is being performed. Method according to one of the preceding claims, characterized in that the scanning device (14) comprises at least one scanning element, wherein at least one scanning element is placed directly on the robot (12) and optionally, in particular if a shadow formed by system components or other disturbing influences the at least one scanning element on Hinder robot, at least one further scan element is placed outside of the robot (12). Device (10) for securing a working area of a robot (12) during a use phase according to the method of Claims 1 to 9 comprising a robot (12), a scanning device (14) and a control unit.

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