DE112021005409T5 - Sicherheits-sichtvorrichtung und sicherheits-sichtsystem - Google Patents

Sicherheits-sichtvorrichtung und sicherheits-sichtsystem Download PDF

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Publication number
DE112021005409T5
DE112021005409T5 DE112021005409.0T DE112021005409T DE112021005409T5 DE 112021005409 T5 DE112021005409 T5 DE 112021005409T5 DE 112021005409 T DE112021005409 T DE 112021005409T DE 112021005409 T5 DE112021005409 T5 DE 112021005409T5
Authority
DE
Germany
Prior art keywords
robot
dimensional
worker
camera
estimation model
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.)
Pending
Application number
DE112021005409.0T
Other languages
German (de)
English (en)
Inventor
Youhei Nakada
Takeshi Motodaka
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 DE112021005409T5 publication Critical patent/DE112021005409T5/de
Pending legal-status Critical Current

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Classifications

    • 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
    • B25J9/1694—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
    • 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)
DE112021005409.0T 2020-12-21 2021-12-14 Sicherheits-sichtvorrichtung und sicherheits-sichtsystem Pending DE112021005409T5 (de)

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 (1)

Publication Number Publication Date
DE112021005409T5 true DE112021005409T5 (de) 2023-08-03

Family

ID=82159718

Family Applications (1)

Application Number Title Priority Date Filing Date
DE112021005409.0T Pending DE112021005409T5 (de) 2020-12-21 2021-12-14 Sicherheits-sichtvorrichtung und sicherheits-sichtsystem

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=)

Cited By (1)

* Cited by examiner, † Cited by third party
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DE102023117654A1 (de) * 2023-07-04 2025-01-09 K.A. Schmersal Holding Gmbh & Co. Kg Verfahren zur Überwachung eines Schutzbereichs basierend auf einem Modellobjektdatensatz mit mindestens einem 3D-Modellobjekt

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004243427A (ja) 2003-02-12 2004-09-02 Yaskawa Electric Corp ロボット制御装置およびロボット制御方法

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DE102006048166A1 (de) * 2006-08-02 2008-02-07 Daimler Ag Verfahren zur Beobachtung einer Person in einem industriellen Umfeld
US20150294496A1 (en) * 2014-04-14 2015-10-15 GM Global Technology Operations LLC Probabilistic person-tracking using multi-view fusion
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
US20210073096A1 (en) 2017-11-17 2021-03-11 Mitsubishi Electric Corporation Three-dimensional space monitoring device and three-dimensional space monitoring method
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
CN108527370B (zh) 2018-04-16 2020-06-02 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
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
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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
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JP2004243427A (ja) 2003-02-12 2004-09-02 Yaskawa Electric Corp ロボット制御装置およびロボット制御方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102023117654A1 (de) * 2023-07-04 2025-01-09 K.A. Schmersal Holding Gmbh & Co. Kg Verfahren zur Überwachung eines Schutzbereichs basierend auf einem Modellobjektdatensatz mit mindestens einem 3D-Modellobjekt
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

Also Published As

Publication number Publication date
CN116745083A (zh) 2023-09-12
WO2022138340A1 (ja) 2022-06-30
US20230415363A1 (en) 2023-12-28
JPWO2022138340A1 (https=) 2022-06-30
JP7427115B2 (ja) 2024-02-02
CN116745083B (zh) 2025-12-16
US12409572B2 (en) 2025-09-09

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R012 Request for examination validly filed
R081 Change of applicant/patentee

Owner name: FANUC CORPORATION, OSHINO-MURA, JP

Free format text: FORMER OWNERS: FANUC CORPORATION, OSHINO-MURA, YAMANASHI, JP; HITACHI, LTD., TOKYO, JP