EP3052275A2 - Technologie de planification basée sur la collaboration humain-robot - Google Patents

Technologie de planification basée sur la collaboration humain-robot

Info

Publication number
EP3052275A2
EP3052275A2 EP14786458.1A EP14786458A EP3052275A2 EP 3052275 A2 EP3052275 A2 EP 3052275A2 EP 14786458 A EP14786458 A EP 14786458A EP 3052275 A2 EP3052275 A2 EP 3052275A2
Authority
EP
European Patent Office
Prior art keywords
manipulator
human
planning
path
movement
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.)
Withdrawn
Application number
EP14786458.1A
Other languages
German (de)
English (en)
Inventor
Willi Klumpp
Michael ZÜRN
Matthias Reichenbach
Simon Klumpp
Konrad Wirth
Christian Eberdt
Richard ZUNKE
Ralf Kühnemann
Alexander Gürtler
Reinhard NEUREITER
Thomas Rau
Andreas Domke
Robert Haman
Otmar Honsberg
Kurt Strauss
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.)
KUKA Systems GmbH
Original Assignee
KUKA Systems GmbH
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 KUKA Systems GmbH filed Critical KUKA Systems GmbH
Publication of EP3052275A2 publication Critical patent/EP3052275A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • G05B2219/40198—Contact with human allowed if under pain tolerance limit
    • 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
    • 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
    • G05B2219/40478—Graphic display of work area of robot, forbidden, permitted zone

Definitions

  • the invention relates to a technology for planning and implementing human-robot collaboration processes.
  • MTK Human-Robot-Collaboration
  • collaboration area The part of the workspace in which the range of movement of a robot and the access area of a person overlap is called a collaboration area.
  • Collaborative operation is understood to mean a state in which one or more robots (manipulators) developed for a particular purpose are in direct, i. interacting with a human being.
  • the technology includes at least a planning procedure and a planning system and the use of an automated assessment module for the determination of
  • Collaboration operation usually separation devices are provided, the working space of a manipulator from the presence or access space of a person
  • Manipulator activity and human activity For example. Can be parts of a human for editing or resumption by one
  • Manipulator can be stored in designated areas. However, the working cells have one
  • Safety devices that provide for a shutdown or extreme speed limit of the manipulator when direct contact between the human and a manipulator is to be feared.
  • Manipulator activity how high resilience and high accuracy are combined. So that nevertheless a safe cooperation is guaranteed, the manipulator should only be operated at such speeds that unacceptable impairments of man even in the event of a collision are avoided. These speeds are considered permissible. In other words, a direct contact between the human and the manipulator during the
  • a collision occurs at too high a speed, a human body part is clamped or crushed between the manipulator and another object, or a collision occurs with a particularly vulnerable body part or body area.
  • the contour of the part involved in the collision i. the boundary geometry involved in a collision has an influence on a risk of injury. On the one hand, this relates to a contour of the manipulator or the
  • the contour of a in the access area of the manipulator arranged external object such as a component or a
  • a scheduling method is for establishing at least one manipulator for collaborative operation with a human.
  • the method is thus a working method which, for example, during the setup or readjustment of a
  • industrial production plant can be carried out. It is preferably carried out automatically or semi-automatically on a computer system. It can
  • Planning procedure becomes a movement plan for the
  • Activity of a manipulator specified The activity concerns a collaboration (interacting
  • Attitudes of one or more people It is therefore not necessary for the planning or monitoring according to the present disclosure that the actual actual position and / or posture of a person during the manipulator or manufacturing plant is concretely known or predetermined or is detected metrologically.
  • the zone definition can be a
  • the planning method comprises at least the following steps, which can preferably be carried out in the stated order. Alternatively, the steps may be partially or fully parallelized or performed in a different order. The steps are:
  • Manipulatorbegna can in particular a
  • Tool such as a gripping tool, and / or include a workpiece and / or a point or any point on the robot itself.
  • the movement plan is preferred as
  • the movement plan can be for a main point of interest (POI), for example a so-called Tool Center Point (TCP) or a manipulator flange be set.
  • POI main point of interest
  • TCP Tool Center Point
  • manipulator flange be set.
  • the assessment module can, for example, a table or database with empirically determined data on
  • Impairment of a person in collisions of a boundary geometry with a particular body part included can
  • a structured context For example, a structured context
  • the evaluation module shows (as a result of the empirical
  • Determination has a structure which, depending on a categorized collision situation, indicates at which collision speeds certain
  • the stored data is queried in reverse order. That is, the scoring module is used to pass in input parameters that specify one of the categorized collision situation and an impairment deemed to be permissible. Based on this input data becomes a speed
  • This speed is considered as the permissible speed for the movement of a reference point of the manipulator or a
  • the movement plan can be assigned a velocity profile that is to be checked. Alternatively or additionally, at a later time, a manual change or a new specification of speeds, which are then to be checked.
  • predefined velocities The speeds, if any, assigned during the initial acquisition are referred to as "predefined velocities”. You can partially or in the course of planning
  • Speed profiles can be quickly and easily transferred to the controller of a manipulator, for example via an online data transmission.
  • a speed profile can be documented and, if necessary, certified with regard to occupational safety. It can be output as a speed-time characteristic and / or as a speed-path characteristic. It preferably includes for all sections in which a human-robot collaboration (MRK) occurs or can occur, the planned speeds as well as the determined permissible speeds.
  • MTK human-robot collaboration
  • the instantaneous speed of a specific reference point (eg TCP, storage location / other POI) is referred to as process speed. It can be a current position of the reference point
  • the planning of the respective process speeds in the sections of the movement plan can be partially or fully automated. As a result, the number of adjustments to a movement plan to achieve a desired job profile, in particular one
  • Speeds in particular an allocation of the maximum permissible process speed, can be fully or partially automated by the planning method (the planning software). This will be the
  • Manipulator activity significantly reduced. Furthermore, the complexity of the planning task is reduced and it can significant cost savings can be achieved. Thus, the overall setup of a manufacturing cell can be significantly accelerated.
  • sections can be determined in the velocity profile in which a planned process speed is higher than a determined permissible one
  • MRK zones in the layout can be done in any way, for example, by manual input or data transfer from an external system. Alternatively, an automated or
  • the accessibility by the manipulator may result from the known structure and the known outer contour of the components of the manipulator and / or its assembly and the other objects defined in the layout.
  • An accessibility by a human within the layout can be determined on the basis of an anthropological database. In such a database
  • Body parts or parts of the body whose presence in a zone is to be expected.
  • the marking of MRK zones can also
  • the MRK zones can alternatively or additionally with
  • Risk classes are assessed.
  • the evaluation can be done in any way. You can on the one hand of the Art depend on an expected collision in a zone. For example, zones where there is a risk of crushing a human body part between the manipulator or the manipulator assembly and another object may be assessed with a higher risk.
  • the rating with risk classes can also be used.
  • a risk assessment can eventually do that
  • Collaboration operations are carried out so that, while maintaining the required safety and minimizing the
  • Disclosure includes a scheduling system for establishing a collaborative manipulator with a human in a shared workspace.
  • the planning system comprises at least one arithmetic unit, an ordered data structure (eg database / file), an input mask and an automated assessment module, wherein the planning system includes the aforementioned
  • Planning procedure is performed.
  • Planning technology also includes the use of an automated assessment module that determines allowable process speeds. The determination of the speeds takes place on the basis of input data, which select a categorized collision situation and, if necessary, specify a permissible impairment. They preferably contain information about a boundary geometry of a moving solid, a moving mass and a human body zone affected by a possible collision.
  • the evaluation module is used for the
  • Affected body zone can be obtained from information about MRK zones and / or assigned risk classes.
  • Input data is preferably automated.
  • the input data is preferably transmitted to the evaluation module as a data tuple, for example in the form of value chains.
  • the evaluation module internally sets a permissible
  • the data tuples can vary depending on the
  • the planning technology further comprises an MRK processing station with a predetermined layout and at least one manipulator, which works in collaboration with a human being, wherein the manipulator Is controlled based on a movement plan.
  • Movement plan includes a trajectory and a
  • the movement plan comprises in particular for each section a planned process speed which is the permissible
  • Figure 1 A manipulator with seven
  • the present disclosure relates to
  • People in particular laying down a Movement plan or a path of movement (Path) for one or more reference points (K1, K2, K3) on the manipulator (10) or a manipulator assembly (36). It also concerns a monitoring procedure.
  • the scheduling method and / or the monitoring method are preferably executed on a computer system (30).
  • a movement plan is understood below to mean at least one trajectory, i. a lot of
  • a movement plan may additionally include a speed profile.
  • Speed Profile contains information about which movements at what time and / or at what
  • a speed profile can be for everyone
  • Sections of a movement plan or be provided for only part of the plan.
  • the manipulator (10) can, in particular by controlling or regulating the drives for the axes of motion (I-VII), be controlled so that a certain
  • Reference point tracked an actual trajectory, which coincides with the motion plan for that reference point
  • monitoring can be carried out for each actual trajectory, which checks whether the permissible speeds determined for this trajectory are maintained. If exceeding the permissible speeds, various measures can be triggered. For example, a warning can be issued to a worker that threatens an increased risk of injury and he should move away from the manipulator. In addition, a log of the overshoot can be generated, which can support a possible revision of the process planning. Finally, it is possible to limit the instantaneous process speed to the permissible speed.
  • the movement plan may contain, in sections or in total, orientation data (u, v, w) which is a
  • FIG. 1 shows by way of example a manipulator (10) in a preferred embodiment. It is a lightweight robot with seven each individually
  • the manipulator (10) can be operated with different control strategies. In particular, it is possible to set the manipulator (10) in a resilient mode in which the manipulator (10) tracks a movement plan under force control.
  • the manipulator can exceed one
  • the manipulator (10) shown in Figure 1 has a total of seven members.
  • the first member (16) is designed as a manipulator hand, on which a flange (12) for receiving a component (36) is arranged.
  • the flange (12) has a flange axis (14). All other members (17,18,20,22,24) to the foot (26) are each connected via a separately controllable movement axis (VI - I) with the respective preceding member.
  • FIG. 4 shows by way of example a layout (32) of a
  • At least one collaboration area (50) is detected, i. an area in which the accessibility of
  • the layout is preferably stored in a planning system two-dimensionally or three-dimensionally as a data model, for example as a CAD model
  • the CAD model can be used to capture the layout newly created and / or imported via an interface.
  • the layout (32) shown in Figure 4 shows several objects, including an L-shaped table in the middle of a manipulator (10) is arranged. On the table, several work areas shown as rectangles are arranged, either only by the human (28) (see work area bottom left), only by the manipulator (10) (see MRK 4 marked area) or in
  • Collaboration area (50) from both the manipulator (10) and from humans (28) can be reached.
  • relevant edges of the objects are preferably marked.
  • relevant edges may preferably be detected additional data, such as a relevant
  • Boundary geometry and boundary radii can be stored as minimum radii. If necessary. can a
  • an MRK activity is to be performed by the manipulator (10) in cooperation with the human (28).
  • the manipulator (10) should perform movements, especially one
  • Manipulatorbe Cultureung (36) may be provided, for example. By picking up workpieces or a tool exchange. To carry out the activity, the manipulator (10) follows a planned movement, ie the movement plan. In the drawings, for the sake of simpler
  • FIG. 4 shows, by way of example, a path of movement (path) which is represented by a movement plan with two
  • Movement plan can be finely divided into subsections.
  • a trajectory for a tool center point (TCP), ie a main reference point (K1) of a manipulator assembly (36), is specified.
  • Reference point (Kl) can be specified in any way. It can be partial or complete in the
  • Movement plan be deposited. Alternatively, it may be calculated and specified by a manipulator controller (48) as appropriate during operation. It can also be predefined in any representation, for example via three solid angles (k, l, m) or by other suitable coordinates. relevant
  • Manipulators (10) are planned and optimized and finally given for the actual activity.
  • the process speeds may be partially or fully considered as the first time the motion is acquired
  • predefined process speeds This may be useful in particular in sections in which an interaction of the manipulator with others
  • Objects should be done, for example, at a
  • Tool change when picking up a workpiece or during an assembly process.
  • the process speeds can also be preset or optimized automatically.
  • Process speeds determined and assigned directly For a partially automated assignment, the planned process speeds can be compared with the determined permissible speeds.
  • a speed profile will display suggestions for changes based on this comparison Planner can be adopted and / or manually adjusted.
  • One or more MRK zones are preferably marked in the layout (32).
  • the labeling can be manual, semi-automated or fully automated.
  • Figure 1 two parts of the
  • Collaboration area (50) in which the presence of a human (28) is provided or possible and in which a collision would also be possible with sensitive parts of the body, such as the larynx or the eyes, marked MRK1. These zones are rated with a high risk (Rl).
  • a second sub-area located above a table surface and in direct
  • Access range of the human (28) is designated MRK2. In this zone is at
  • this zone is assigned to a risk class (R2).
  • a third zone is still inside the table and is not reached by the person (28) in the planned course of MRC activity. For example, it is assigned the risk class (R3).
  • a fourth zone covers a tool magazine arranged next to the manipulator (10) into which, due to safety devices, only the tool magazine
  • Manipulator (10) can intervene.
  • This zone (MRK4) for example, is assigned the risk class (R4).
  • the recording of the layout (32) and the allocation of MRK zones as well as the evaluation with risk classes (R1-R4) is preferably done via an input mask on a
  • Zone specification and / or zone subdivision or used for their naming can also be marked (see FIG. 4) which can not be reached by the manipulator or the manipulator assembly or whose accessibility to the manipulator is precluded by means of technical measures Danger to humans from manipulator activity.
  • a pure "MRK zone” can be one such zone that defines a common manipulator and human working space
  • the zones are pure MRK zones.
  • a so-called "process zone” can be a workspace whose accessibility is intended primarily for the manipulator, but the accessibility for the human being is basically possible in a process zone
  • a permissible impairment in the process zone may be
  • the zone (MRK3) is such a process zone.
  • a so-called "risk zone” may be a working space reserved solely for the manipulator, and there is no interaction or contact between the manipulator and the human subject in a risk zone, and additional safeguards should be provided for access by a human to a risk zone
  • a risk zone may be excluded from MRI planning and / or MRI monitoring. The process speeds may be selected so that injuries may also be expected in the event of collisions.
  • Figure 4 corresponds to the zone (MRK4). a risk zone.
  • FIG. 5 shows an example of a planning system (44). It has a graphical input mask (42,
  • GUI which can assume different states.
  • a plan view of the layout (32) is shown by way of example.
  • the right-hand view shows a velocity profile in the form of a velocity-time characteristic (v-t-slide).
  • v-t-slide a velocity-time characteristic
  • the current planned speeds (v_pl) with the determined permissible speeds (v_zul) are calculated over the course of time of a planned manipulator activity.
  • Such sections of the movement plan in which the planned speed (v_pl) exceeds the allowable speed (v_zul) can be automatically determined and displayed in the method, so that a planner is informed of any necessary changes or a release for a
  • the planning system (44) further comprises a computing unit (40), an ordered data structure (34), in particular in the form of a database or a file, and a
  • the arithmetic unit (40) may be a conventional computer or a software executed thereon.
  • the ordered data structure (34) can be stored on any data carrier.
  • An extract from an evaluation module (38) is shown by way of example in the lower right-hand area of FIG.
  • the extract contains predefined information about a partial mass (ml, m2), a radius of the relevant limit geometry as well as a matrix of permissible speeds for different manipulator assemblies (tools), here for the collision types squish (Vmax_Q) and thrusting
  • the illustrated speed values VI to V6 relate to base values in the event that none
  • the permissible process speed can be determined in each case from such a matrix for the relevant reference point (POI, TCP) and the present zone (MRK1-MRK4).
  • the extract shown is optimized for monitoring an already planned manipulator activity.
  • the planning system (44) can be an anthropological
  • Database for example in the form of a
  • Database or be associated with such. This can be upper and lower limits for
  • Body measurements include and for minimum and maximum
  • FIG. 7 shows an example of an extract from FIG.
  • One or more manipulators (10) with one or more manipulator controls (48) may be part of the planning system (44) or a monitoring system. Alternatively, the planning system (44) or a monitoring system can be connected to such manipulators (10) or manipulator controls (48).
  • Transmission can be done in any way
  • the planning procedure can be an automated or semi-automated optimization of a movement plan be executed.
  • the optimization can be carried out for the movement plan of a main reference point (K1) or for several reference points (K1, K2, K3) of the manipulator (10) and / or a manipulator assembly (36).
  • An optimization may be to propose or directly assign a change in the velocity profile for particular sections or the entire motion plan.
  • An automated or semi-automated optimization is particularly suitable for pure travel paths of the manipulator, i. such
  • Such travel paths can be manually marked or automatically recorded within a movement plan.
  • Sections with an increased hazard potential i. with an injury-promoting movement
  • Sections are recorded and marked in which a planned orientation (H) of a reference point (K1) with a potentially dangerous boundary geometry (G1) at an acute angle, in particular equidistant to the instantaneous direction of movement (I) of this reference point (K1).
  • H planned orientation
  • G1 potentially dangerous boundary geometry
  • Manipulatorbe Swissung (36) and the manipulator (10) may be assigned to different sub-masses (ml, m2).
  • the reference point for the movement path (path) provided according to the movement plan is the pointed end (Kl).
  • the situation illustrated in FIG. 2 corresponds to a part of the movement plan in the first section (Secl) according to FIG. 4.
  • the manipulator assembly could be moved at higher speed for the same allowable degradation if the blunt end (K2) were to protrude.
  • This circumstance can be the basis for optimization. That is generally an optimization achievable, if one Movement plan is modified so that a less dangerous border geometry leads the way in the movement. Because then higher permissible speeds are to be expected.
  • An optimization of the movement plan can be effected, for example, by the planned orientation (H) and / or the planned instantaneous movement in the sections of the travel paths marked as shown above
  • Movement direction (I) of the reference point (Kl) are adapted so that the orientation (H) in the direction of an obtuse angle, in particular an opposite orientation relative to the direction of movement (I)
  • an optimization can take place in that a reference point (K2) with an expected less dangerous limit geometry (G2) is determined on a manipulator assembly (36).
  • the movement plan for the manipulator assembly (36) can then be adjusted within a travel path so that the orientation (H) of this harmless
  • Boundary geometry (G2) of the reference point (K2) at an acute angle, in particular the same orientation, the instantaneous direction of movement (I) of the reference point (K2) is. That an expectedly harmless
  • Boundary geometry (G2) is twisted to the forward side of the movement.
  • any other Boundary geometry (G2) is twisted to the forward side of the movement.
  • optimization method can be used.
  • the above-mentioned optimizations can also be used in a monitoring method, for example while it is returning a reference point to a designated position.
  • a monitoring method for example while it is returning a reference point to a designated position.
  • an operation duration (T) for the activity of the manipulator (10) to be performed is calculated on the basis of a defined movement plan and the respectively planned process speeds (v_pl) (cf.
  • An automated or partially automated optimization of the movement plan can preferably be carried out when the calculated operation time (T) exceeds a desired cycle time.
  • the desired cycle time can for example be present as a target specification and recorded at the beginning of an activity plan. Accordingly, the implementation of an optimization can also be designed automatically.
  • a monitoring procedure can basically all
  • the monitoring method may preferably be a permanent
  • Speeds can be stored with an indication of the currently affected work zone (Zonel - Zone3 / MRK1- MRK4). Such diagrams can also be stored for evidence to prove compliance with operational safety. Modifications and variations of the invention are possible in many ways. In particular, the features shown or described with reference to the exemplary embodiments may be combined with one another in any desired manner, interchanged, supplemented or omitted.
  • the manipulator (10) may have one or more additional ones Have traversing axes. It may alternatively or additionally be arranged on a freely movable body.
  • a collaboration area (50) can be variable during the duration of a collaboration activity and the marking of MRK zones and a
  • Risk assessment can be time-varying accordingly.
  • Condition may relate to a designated activity in which human (28) and manipulator (10) perform the intended movements and a contact between human (28) and manipulator (10) occurs only at the desired times and at the planned locations. For such a condition can only very small
  • Impairments of humans are recognized as permissible.
  • a second state may cover slight changes from the intended activity caused by inadvertent behavioral changes of the human (28). In such a condition, more severe impairments may be allowed but no serious injury

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne une technologie permettant de planifier et de mettre en œuvre des processus de collaboration humain-robot. Un procédé de planification consiste à détecter une disposition (32) d'une zone de travail dans laquelle un humain (28) et un manipulateur (10) coopèrent à l'intérieur d'une zone de collaboration (50). Des zones de collaboration humain-robot (MRK1, MRK2, MRK3, MRK4) sont repérées et des zones ou des parties du corps pouvant présenter un risque de collision sont indiquées. Des géométries limites sont détectées pour le manipulateur et/ou pour un équipement du manipulateur et un plan de déplacement est détecté pour au moins un point de référence. Un module d'évaluation automatisé permet de déterminer une vitesse de processus admissible pour suivre le plan de déplacement, à laquelle une collision entre le manipulateur et l'humain n'entraînerait qu'un préjudice tolérable de l'humain. Un profil de vitesse est établi sur la base des vitesses admissibles déterminées.
EP14786458.1A 2013-10-01 2014-09-29 Technologie de planification basée sur la collaboration humain-robot Withdrawn EP3052275A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013110901.2A DE102013110901B4 (de) 2013-10-01 2013-10-01 MRK Planungstechnologie
PCT/EP2014/070808 WO2015049207A2 (fr) 2013-10-01 2014-09-29 Technologie de planification basée sur la collaboration humain-robot

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Publication Number Publication Date
EP3052275A2 true EP3052275A2 (fr) 2016-08-10

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DE (1) DE102013110901B4 (fr)
WO (1) WO2015049207A2 (fr)

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WO2015049207A3 (fr) 2015-05-28
DE102013110901A1 (de) 2015-04-02
WO2015049207A2 (fr) 2015-04-09

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