DE10324628A1 - Control method for robot especially fixed mounted robots, involves verifying whether or not each object in monitoring zone has scheduled intrusion into working program - Google Patents
Control method for robot especially fixed mounted robots, involves verifying whether or not each object in monitoring zone has scheduled intrusion into working program Download PDFInfo
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- DE10324628A1 DE10324628A1 DE2003124628 DE10324628A DE10324628A1 DE 10324628 A1 DE10324628 A1 DE 10324628A1 DE 2003124628 DE2003124628 DE 2003124628 DE 10324628 A DE10324628 A DE 10324628A DE 10324628 A1 DE10324628 A1 DE 10324628A1
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Classifications
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4061—Avoiding collision or forbidden zones
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- 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
- F16P3/141—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 sound propagation, e.g. sonar
-
- 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
-
- 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
- F16P3/144—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 light grids
-
- 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
- G05B2219/37—Measurements
- G05B2219/37631—Means detecting object in forbidden zone
-
- 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
- G05B2219/40475—In presence of moving obstacles, dynamic environment
Abstract
Description
Die Erfindung betrifft ein Steuerverfahren für einen Roboter und zwar insbesondere das Problem der geplanten Interaktion von Robotern untereinander oder mit Bedienungspersonal.The The invention relates to a control method for a robot, in particular the problem of the planned interaction of robots with each other or with operating personnel.
Derartige Interaktion zuzulassen ist nicht ohne Risiko, da herkömmliche Roboter nur eingeschränkt in der Lage sind, bei ihren Bewegungen das Vorhandensein von anderen Robotern oder von Bedienungspersonal zu berücksichtigen, und unangepasste Bewegungen leicht zu Verletzungen des Personals oder zu Beschädigungen des Roboters selbst oder anderer Roboter führen können.such Allowing interaction is not without risk, as traditional Robots only limited are able, in their movements, the presence of others Robots or operators to take into account, and unadjusted Movements easily lead to personal injury or damage of the robot itself or other robot.
Bei stationär montierten Robotern war man bislang im wesentlichen bestrebt, jegliche derartige Interaktion zu vermeiden, indem die Roboter in gesicherten Käfigen aufgestellt wurden. Für einen stationären Roboter mit einer naturgemäß durch seine Armlänge begrenzten Reichweite war ein solcher Ansatz praktikabel. Neuere Entwicklungen zielen jedoch vermehrt auf Roboter ab, die autonom beweglich sind und Reichweiten von vielen Metern haben, so dass es nicht mehr sinnvoll ist, Bedienungspersonal oder andere Roboter aus dem Bewegungsbereich dieser Roboter auszusperren. Diese müssen, um gefahrlos einsetzbar zu sein, zu einer flexiblen Interaktion mit anderen Robotern oder mit Menschen in der Lage sein.at stationary mounted robots were so far essentially anxious, any Avoid such interaction by securing the robot in cages were set up. For a stationary one Robot with a natural by his arm's length limited reach, such an approach was practicable. newer However, developments increasingly focus on robots that are autonomous are movable and have ranges of many meters, so that it no longer makes sense to operators or other robots exclude from the range of motion of these robots. These must, um to be used safely, to interact flexibly with other robots or with humans to be able.
In
Eine Annäherung von Robotern untereinander oder einer Bedienungsperson an den Roboter, die notwendig sein kann, um z. B. ein Werkstück zu übergeben oder gemeinsam zu bearbeiten, ist mit dieser Technik nicht möglich.A approach from robots to each other or an operator to the robot, the may be necessary to z. B. to pass a workpiece or together editing is not possible with this technique.
Aufgabe der Erfindung ist, dieses Problem zu beheben.task The invention is to remedy this problem.
Die Aufgabe wird gelöst durch ein Verfahren mit den Merkmalen des Anspruchs 1.The Task is solved by a method having the features of claim 1.
Die Festlegung einer Überwachungszone rund um den Roboter, deren Verletzung durch das Eindringen eines Objekts zu einer Schutzmaßnahme wie etwa einem Nothalt führt, ist bekannt und zur Gewährleistung der Sicherheit von Personen im Umfeld des Roboters im Allgemeinen erforderlich. Die Erfindung schafft die Möglichkeit, in vordefinierten, im Arbeitsprogramm des Roboters festgelegten Fällen diese Sicherung zu durchbrechen, indem das Eindringen eines Objektes dann nicht zu der Schutzmaßnahme führt, wenn es als erwartet, d. h. einem der vordefinierten Fälle entsprechend, erkannt wird.The Definition of a surveillance zone around around the robot, whose injury is due to the intrusion of an object to a protective measure like leads to an emergency stop, is known and guaranteed the safety of persons in the environment of the robot in general required. The invention provides the possibility of predefined, in the work program of the robot specified cases break this fuse, in that the intrusion of an object does not lead to the protective measure, if it as expected, d. H. according to one of the predefined cases, is recognized.
Eine Möglichkeit, diese Erkennung durchzuführen ist z. B. der Vergleich der erfassten Trajektorien von in den Überwachungsbereich eindringenden Objekten mit im Arbeitsprogramm vorgegebenen Trajektorien und Auslösen der Schutzmaßnahme immer dann, wenn keine Zuordnung der erfassten zu einer vorgegebenen Trajektorie getroffen werden kann.A Possibility, to perform this detection is z. B. the comparison of the detected trajectories of in the surveillance area penetrating objects with predetermined trajectories in the work program and trigger the protective measure whenever no assignment of the recorded to a given Trajectory can be taken.
Eine bevorzugte, weil mit geringem Verarbeitungsaufwand verbundene Lösung ist die, zu einem erwarteten Eindringen jeweils eine Entsicherungszone zu definieren, die gleichsam ein „Loch" oder „Schlauch" im Überwachungsbereich bildet, in dem eine Überwachung auf das Eindringen von Objekten einfach unterbleibt, d. h. Sensorsignale aus der Entsicherungszone werden bei der Entscheidung, ob eine Schutzmaßnahme getroffen werden muss, je nach Sensortyp erst gar nicht erzeugt oder bleiben unausgewertet.A preferred because it involves low processing overhead the, for an expected penetration in each case a Entsicherungszone defining, as it were, a "hole" or "hose" in the surveillance area forms in which a surveillance is simply omitted on the penetration of objects, d. H. sensor signals from the arming zone are used in deciding whether to take a protective measure must be generated, depending on the sensor type not even generated or remain un-valued.
Aus Sicherheitsgründen sollte die Ausdehnung einer Entsicherungszone sowohl räumlich als auch zeitlich möglichst klein sein, d. h. sie wird insbesondere nur in Zeitintervallen definiert, in denen der Roboter mit dem Eindringen einer Person oder eines anderen Roboters in seinen Überwachungsbereich „rechnet". Ein solches Zeitintervall kann im Arbeitsprogramm des Roboters absolut spezifiziert sein; es ist aber auch möglich, dass das Arbeitsprogramm lediglich äußere Bedingungen festlegt, deren Eintreten von der Sensorik des Roboters erfasst wird und diesen veranlasst, mit dem Eindringen zu rechnen. Eine solche Bedingung kann insbesondere der Empfang eines Schlüsselreizes durch den Roboter sein, wie etwa der Empfang eines Zurufs einer Bedienungsperson, die Erkennung eines auf den Roboter gerichteten Blicks einer Bedienungsperson, des Gesichts einer einzelnen Bedienungsperson, der der Roboter zugeordnet ist, der Form eines gemäß Arbeitsprogramm erwarteten Werkstücks in den Händen einer Bedienungsperson, ein Funksignal, ein optisches Signal oder vieles andere.For safety reasons, the extension of an arming zone should be as small as possible, both spatially and temporally, ie it is defined only at intervals in which the robot "counts" for the intrusion of a person or another robot into its surveillance area However, it is also possible that the work program only specifies external conditions, the occurrence of which is detected by the sensor system of the robot and causes it to count on the intrusion.This condition can in particular the reception of a key stimulus by be the robot, such as receiving a call from a servant operator, the recognition of a robot-directed gaze of an operator, the face of a single operator to whom the robot is assigned, the shape of a work-expected workpiece in the hands of an operator, a radio signal, an optical signal, or many others.
Um einer Bedienungsperson oder einem zweiten Roboter die Bereitschaft zur Kontaktaufnahme zu signalisieren, ist die Einrichtung einer Entsicherungszone vorzugsweise mit der Aussendung eines optischen oder akustischen Signals durch den Roboter verknüpft. Ein zweites Signal wird zweckmäßigerweise erzeugt, um die Aufhebung der Entsicherungszone und damit das Ende der Kontaktbereitschaft anzuzeigen.Around an operator or a second robot's readiness to signal the contact is the establishment of a Entsicherungszone preferably with the emission of an optical or acoustic signal linked by the robot. A second signal will be expediently generated to the lifting of the arming zone and thus the end to indicate readiness for contact.
Durch die Einrichtung der Entsicherungszone ist zunächst gewährleistet, dass der Roboter bei der erwarteten Annäherung keine unerwünschten Schutzmaßnahmen wie etwa Ausweichen oder Nothalt ausführt, die Interaktion mit ihm erschweren oder anschließend zeitaufwändig wieder aufgehoben werden müssen. Ein Verletzungsschutz für eine mit dem Roboter interagierende Person kann insbesondere sichergestellt werden, indem das Arbeitsprogramm von vornherein für Zeiten, in denen eine Entsicherungszone definiert ist, die Bewegungsgeschwindigkeit des Roboters begrenzt, oder indem eine Stoppzone eingerichtet wird, die in den Abmessungen mit der Entsicherungszone übereinstimmen kann, aber nicht muss, wobei der Roboter zeitweilig anhält, wenn er ein Objekt in der Stoppzone erfasst. Der Vorteil dieser zweiten Lösung liegt insbesondere darin, dass der Bewegungsablauf des Roboters nur dann verlangsamt oder angehalten wird, wenn tatsächlich eine zu schützende Person sich in der Stoppzone befindet, so dass der Roboter eine hohe Produktivität erreichen kann.By the establishment of the arming zone is first ensured that the robot at the expected approach no unwanted protective measures such as dodging or emergency stop, the interaction with him complicate or subsequently time consuming must be lifted again. An injury protection for a person interacting with the robot can be ensured in particular the work program from the outset for times in which a Entsicherungszone is defined, the movement speed of the robot or by setting up a stop zone, which can be the same size as the arming zone, but does not have to, with the robot stopping temporarily, though he detects an object in the stop zone. The advantage of this second solution is in particular that the movement of the robot only slowed down or stopped, if indeed one to be protected Person is in the stop zone, so that the robot one high productivity can reach.
Wie erwähnt, kommen als Schutzmaßnahmen bei Erfassung eines Objekts im Überwachungsbereich insbesondere Ausweichen oder Nothalt in Betracht. Diese beiden Möglichkeiten schließen einander nicht aus. Wenn die im Überwachungsbereich eingelei tete Schutzmaßnahme ein Ausweichen ist, so ist es zumindest für den Fall, das ein Ausweichen sich als unmöglich erweist, vorteilhaft, wenn innerhalb des Überwachungsbereichs noch ein Schutzbereich vorgesehen ist, dessen Verletzung den Nothalt des Roboters herbeiführt. Dabei kann dieser Schutzbereich wohlgemerkt auch seinerseits als ein Überwachungsbereich im Sinne des oben definierten Verfahrens aufgefasst werden; d. h. auch für ihn kann die Möglichkeit vorgesehen werden, ihn mit einer Entsicherungszone zu durchbrechen, u.s.w.How mentioned, come as protective measures when detecting an object in the surveillance area in particular evasion or emergency stop into consideration. These two possibilities conclude not look at each other. When launched in the surveillance area defense An evasion is, at least in the event that evades as impossible proves advantageous if, within the surveillance area, another Protected area is provided, the violation of the emergency stop of Robot brought about. Mind you, this protection area can also be considered as a a surveillance area be understood in the sense of the method defined above; d. H. also for he may have the opportunity be provided to break it with a Entsicherungszone, etc.
Zusätzlich zu dem oben definierten Überwachungsbereich ist vorzugsweise um diesen herum noch ein Warnbereich definiert, der von dem Roboter überwacht wird, wobei die Erfassung eines Objekts in dem Warnbereich dazu führt, dass der Roboter ein Warnsignal abgibt und/oder seine Bewegung verlangsamt.In addition to the monitoring area defined above a warning area is preferably defined around it, which is monitored by the robot with the detection of an object in the warning area leads, that the robot gives a warning signal and / or slows down its movement.
Weitere Merkmale und Vorteile der Erfindung ergeben sich aus der nachfolgenden Beschreibung von Ausführungsbeispielen der Erfindung unter Bezugnahme auf die beigefügten Figuren.Further Features and advantages of the invention will become apparent from the following Description of exemplary embodiments of the invention with reference to the accompanying figures.
Dabei zeigen:there demonstrate:
Zur
Erläuterung
der Erfindung wird in den Figuren ein autonom fahrender Roboter
Das
Fahrgestell
Der
Roboter ist mit einer Sensorik zum Wahrnehmen seiner Umgebung ausgestattet,
die ein oder mehrere Kameras, z. B. eine an einem Mast erhöht über dem
Fahrgestell montierte katadioptrische Kamera
Ein
innerster Bereich
Um
die Schutzzone
Schließlich ist
noch ein Warnbereich
Wenn
ein Schlüsselreiz
erkannt worden ist, „rechnet" der Roboter
Die
Entsicherungszone
Selbstverständlich kann
eine Übergabe
eines Werkstücks
vom Roboter
Claims (15)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE2003124628 DE10324628A1 (en) | 2003-05-28 | 2003-05-28 | Control method for robot especially fixed mounted robots, involves verifying whether or not each object in monitoring zone has scheduled intrusion into working program |
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DE2003124628 DE10324628A1 (en) | 2003-05-28 | 2003-05-28 | Control method for robot especially fixed mounted robots, involves verifying whether or not each object in monitoring zone has scheduled intrusion into working program |
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Cited By (20)
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WO2006024431A1 (en) * | 2004-08-27 | 2006-03-09 | Abb Research Ltd. | Device and method for safeguarding a machine-controlled handling device |
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