EP4298370A1 - Procédé pour déterminer une distance minimale entre un objet et une surface d'appareil, dispositif de sécurité pour un appareil de manutention ayant une surface d'appareil, et appareil de manutention - Google Patents

Procédé pour déterminer une distance minimale entre un objet et une surface d'appareil, dispositif de sécurité pour un appareil de manutention ayant une surface d'appareil, et appareil de manutention

Info

Publication number
EP4298370A1
EP4298370A1 EP21709357.4A EP21709357A EP4298370A1 EP 4298370 A1 EP4298370 A1 EP 4298370A1 EP 21709357 A EP21709357 A EP 21709357A EP 4298370 A1 EP4298370 A1 EP 4298370A1
Authority
EP
European Patent Office
Prior art keywords
distance
distance sensor
sensor unit
device surface
safety
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
EP21709357.4A
Other languages
German (de)
English (en)
Inventor
Oliver Krieg
Etienne Eichstaedt
Hermann Wieser
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.)
Roundpeg Technologies GmbH
Original Assignee
Roundpeg Technologies 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 Roundpeg Technologies GmbH filed Critical Roundpeg Technologies GmbH
Publication of EP4298370A1 publication Critical patent/EP4298370A1/fr
Pending 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
    • B25J9/1694—Programme 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
    • 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
    • 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
    • B25J9/1676—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
    • B25J9/1656—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
    • 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
    • F16P3/147—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 electro-magnetic technology, e.g. tags or radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • 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
    • G05B2219/37425—Distance, range
    • 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
    • G05B2219/40544—Detect proximity of object

Definitions

  • the invention relates to a method for determining a minimum distance of an object from a device surface, in particular for determining a minimum distance of an object from a device surface of a handling device.
  • the invention is directed to a safety device for a handling device having a device surface, in particular to a safety device for a robot having a device surface.
  • the invention also relates to a handling device, in particular a robot, with a device surface and such a safety device.
  • safety devices are used which are designed to carry out methods for determining distances from people and non-human objects.
  • a movement of the handling device is slowed down, stopped or prevented entirely, taking into account the measured distances.
  • people and non-human objects are collectively referred to below as objects.
  • safety devices and methods for determining the distance which can be carried out by them are known which, with a great deal of effort, also make it possible to determine the distance with great precision. In this way, associated handling devices can be operated safely and efficiently.
  • the object is achieved by a method of the type mentioned at the outset, which comprises the following steps: a) detecting a primary distance of the object using a first distance sensor unit positioned on or in the device surface, the primary distance being the distance of the object from the distance sensor unit, b ) Determining a critical point which is in the primary distance from the first distance sensor unit and within a detection area of the first distance sensor unit and, taking into account a spatial progression of the device surface, comes closest to the device surface, and c) determining the minimum distance of the critical point from the device surface .
  • distance sensor units can usually determine a distance, but cannot indicate where within the associated detection area the distance is measured. This problem is solved by determining the critical point and the associated minimum distance. It is impossible that by means of the method, a minimum distance is determined, for example, due to a spatial Course of the device surface is greater than a real distance. Rather, in case of doubt, a slightly too small distance is output. The procedure is therefore particularly safe.
  • the following information must be known for the method: course of the device surface at least in the relevant area, position of the distance sensor on the device surface, detection range of the distance sensor unit. This information can easily be stored on a control unit that is designed to carry out the method.
  • a detection range of a distance sensor unit is always selected in such a way that the device surface does not shield it. Otherwise the distance sensor unit could not be operated with the desired reliability.
  • the distance sensor unit has an essentially conical detection area.
  • the critical point may be on an edge of the detection range when the device surface is flat, or when the device surface is convexly curved toward the object and a radius of curvature of the device surface is larger than the primary distance, or when the device surface is concavely curved toward the object. In these cases, the position of the critical point can be determined particularly quickly and easily. This allows the minimum distance to be determined just as quickly and easily. Information on the curvature of the device surface can again be stored on a control unit that is designed to carry out the method.
  • a sensor signal from a second distance sensor unit positioned on or in the device surface is preferably ignored if the second distance sensor unit detects an object.
  • the critical point lies outside a detection range of a second distance sensor unit positioned on or in the device surface if the second distance sensor unit does not detect an object. In the latter case, it can consequently be ruled out that an object is present in the detection range of the second distance sensor unit. In this way, even in a possibly existing overlapping area of the detection areas of the first Distance sensor unit and the second distance sensor unit are no object. Accordingly, the critical point must also be outside the overlapping area. In the former case, it cannot be determined whether the object detected by the second distance sensor unit is the same object that is detected by the first distance sensor unit or a different object.
  • a position of the detected object within the associated detection areas can also be determined. This can be done, for example, by both distance sensor units detecting a phase of a signal reflected by the object, so that an associated phase shift can be determined. The position within the detection areas can be deduced from the phase shift.
  • At least two raw distances are determined in each distance sensor unit, with the primary distance being the smaller of the raw distances.
  • at least two distance sensors are preferably arranged within the distance sensor unit, which have detection areas which overlap at least in sections. The distance sensors used to determine the raw distances are therefore redundant. This increases the reliability of the distance sensor unit that includes it and consequently also of the method according to the invention.
  • the detection ranges of the distance sensors for determining the raw distances preferably overlap in such a way that one detection range lies completely within the other.
  • a raw distance can thus be determined in the associated overlapping area using both distance sensors.
  • the detection areas are essentially identical. It goes without saying that the information on the detection areas may only apply outside of a certain minimum distance. Due to the geometric conditions, there may be an insufficient overlap within the minimum distance. In extreme cases, the detection areas within the minimum distance do not overlap at all.
  • each time-of-flight sensor includes a transmitting unit and a receiving unit as well as an evaluation unit.
  • the evaluation unit determines a sensor signal in the form of a distance value as a function of the transit time that a signal emitted by the transmitting unit requires until it is detected by the receiving unit, and with knowledge of a wave propagation speed in the relevant space.
  • Time-of-flight sensors therefore work comparatively quickly and precisely. This makes them particularly well suited to be used in the context of fland handling devices or robots. By using different sensor principles, the robustness and error tolerance when determining the raw distances can be increased.
  • a first distance sensor can be an infrared sensor and a second distance sensor can be an ultrasonic sensor. This ensures that almost every object used in the normal environment of a handling device, i.e. people dressed in any way and objects made of any material, can be recognized under different environmental conditions (brightness, fog, humidity, etc.). This is especially true when compared to capacitive sensors, which work less reliably, especially with fluctuating humidity in the work area and when dust occurs. In addition, some plastic materials with a dielectric constant close to air are difficult to detect with capacitive sensors.
  • At least one of the distance sensor units has a detection range that can be changed during operation.
  • the detection range is time-dependent or dependent on a measured distance value changed.
  • narrower detection ranges which have the shape of a comparatively narrow measuring cone, for example, make sense for objects that are comparatively far away, since the direction in which these objects lie can then be better estimated.
  • comparatively close objects on the other hand, it is advantageous to use comparatively wide detection areas, e.g. B. in the form of wide measurement cones, to minimize or eliminate detection holes. Variable detection areas thus increase the detection accuracy overall.
  • a detection range can be changed particularly easily by changing a sound frequency.
  • the detection range of at least one distance sensor unit can also be changed in that the distance sensor unit is movably mounted and the detection range thus covers a different section of the space surrounding the distance sensor unit depending on the position within its mobility.
  • a safety device of the type mentioned at the outset which comprises a first distance sensor unit that can be positioned on or in the device surface and an evaluation unit that is coupled to the distance sensor unit in terms of signals and is designed to carry out a method according to the invention when the distance sensor unit is in the installed state.
  • Minimum distances from device surfaces can therefore be determined simply and reliably by means of the safety device.
  • devices equipped with the safety device in particular handling devices, can be operated reliably in work areas in which objects that are potentially at risk of collision and, in particular, people, are present.
  • a second distance sensor unit that can be positioned on or in the device surface can be provided, which is coupled in terms of signals to the evaluation unit. So it can be provided by means of the security device and those functions that have already been explained in connection with the method according to the invention and are based on the use of two distance sensor units.
  • the first distance sensor unit and the second distance sensor unit each have a detection area, with the detection areas overlapping outside a predefined safety distance from the distance sensor units.
  • a space outside the predefined safety distance is reliably illuminated by the distance sensor units.
  • the space outside the predefined safety distance is completely illuminated by the distance sensor units, ie there are no illumination gaps outside the predefined safety distance.
  • the distance sensor units are then configured and positioned in such a way that the illumination gaps are of an uncritical size. This means that the gaps in illumination are significantly smaller than the objects to be detected using the distance sensor units.
  • a cage made of a grid can be viewed as an analogy to the permitted illumination gaps of uncritical size.
  • the grid has openings, but these are dimensioned in such a way that predefined objects cannot fit through.
  • gaps in illumination that may exceed the non-critical size are also permitted within the predefined safety distance.
  • the area outside the safety distance can be illuminated with high reliability and coverage.
  • each of the distance sensor units includes at least two distance sensors that work according to a time-of-flight method.
  • time-of-flight method reference can be made to the effects and advantages of using time-of-flight sensors, which have already been explained.
  • a detection area of one of the distance sensors and a detection area of the respective other of the distance sensors can overlap at least in sections.
  • the detection areas are essentially identical or one of the detection areas completely encompasses the respective other detection area. This results in a certain redundancy in the detection of the distances.
  • the safety device ensures high reliability and a high level of safety.
  • the distance sensors advantageously use different sensor principles.
  • one of the distance sensors uses an electromagnetic, preferably optical, sensor principle and another of the distance sensors uses an acoustic sensor principle.
  • At least one of the distance sensors used in one of the distance sensor units can have a detection range that can be changed during operation.
  • the detection range is set as a function of time or as a function of a measured distance value.
  • the safety device can also have a shielding unit whose position can be adjusted in this connection.
  • a detection area is thus changed by adjusting a position of the shielding unit.
  • the shielding unit can be adjusted, for example, by means of piezo elements. It goes without saying that only the relative position between the shielding unit and the associated distance sensor is important for setting a detection area. In the same way, therefore, a fixed Shielding unit can be provided which interacts with a movably mounted distance sensor.
  • the distance sensor unit can also be selectively deactivated. This is particularly advantageous when distance sensor units are positioned on a device surface in such a way that in some poses of the associated device, in particular handling device, the distance sensor unit would detect part of the device surface or the handling device.
  • a handling device in particular a robot, of the type mentioned at the outset, which includes a safety device according to the invention, with at least a first distance sensor unit of the safety device being positioned in or on the device surface.
  • the handling device or the robot thus carries the distance sensor units required for protection.
  • the handling device can work in a distance-controlled operating mode if the safety device only detects objects outside a predefined safety distance.
  • the handling device can operate in a force-controlled mode of operation or stop when objects are detected in the safety distance.
  • the power-controlled operating module is accompanied by a reduction in the working or travel speed of the handling device, so that when the handling device comes into contact with a people the contact force is so small that no injury occurs.
  • the handling device stops. So she doesn't move anymore. Only when no more objects are detected within the safety distance can a decision be made to resume movement. This also ensures a high level of operational reliability.
  • a predefined threshold distance can also be provided. This is greater than the predefined safety distance, i.e. it is in an area outside of it.
  • the handling device can be configured in such a way that different limit values are provided for certain operating parameters depending on whether an object is detected within the predefined threshold distance or outside of the predefined threshold distance. For example, a first, comparatively high maximum travel speed is permitted outside the predefined threshold distance, with a second, reduced maximum travel speed being permitted within the predefined threshold distance, but outside the safety distance. It goes without saying that several such threshold distances can also be defined. In this way, the handling device can be operated efficiently and at the same time safely.
  • the safety distance and/or the threshold distance are set as a function of the speed.
  • the size of the safety distance depends on the so-called stopping distance, i.e. on the distance that the handling device continues to travel after an emergency stop switch has been activated before it comes to a standstill. This stopping distance must be smaller than the safety distance. Otherwise, an unwanted collision may occur.
  • the handling device can also be equipped with direction recognition. It can thus be recognized whether the handling device is moving towards a detected object or is moving away from this object. For this purpose, the minimum distances detected by the distance sensor units can be evaluated in combination with movement data from the handling device.
  • the fland handling device can also be programmed in such a way that it always operates in the force-controlled mode in the area of these objects. This can be done through specific programming or through a teach-in run. The purpose of such a functionality is that behind such objects people can enter the detection range of the distance sensor units who were previously covered by the object.
  • the obscuring object can also be parts of the handling device itself.
  • the handling device is in particular a robot.
  • This is designed, for example, as an articulated arm robot, portal robot, delta robot or hexapod robot.
  • An articulated-arm robot can be an articulated-arm robot, a dual-arm robot or a so-called Scara robot.
  • FIG. 1 shows a handling device according to the invention, which is equipped with a safety device according to the invention, by means of which a method according to the invention can be carried out, with a human being and two non-human objects also being shown,
  • FIG. 2 shows an exemplary part of a handling device according to the invention and the components of a safety device according to the invention positioned thereon,
  • figure 4 shows the handling device of figure 1 in a section along the plane IV-IV
  • FIG. 5 is an illustration to explain the method according to the invention, wherein a flat device surface of a fland handling device according to the invention is used as a basis
  • FIG. 6 shows a further illustration for explaining the method according to the invention, the method being explained by means of a representation corresponding to FIG. 4 using the flow handling device from FIG.
  • FIG. 7 is a detailed view of an exemplary distance sensor of the handling device from Figure 1 in two operating states
  • FIG. 8 is a schematic representation of the handling device of FIG. 1 in a specific operating situation
  • FIG. 9 schematically shows a variant of the safety device according to the invention with a movable distance sensor unit.
  • FIG. 1 shows a material handling device 10 which, in the embodiment shown, is designed as an articulated-arm robot.
  • Flawless handling apparatus 10 includes a base 12, a first arm 14, a second arm 16, and a gripper 18.
  • the first arm 14 is connected in an articulated manner to the base 12 and the second arm 16 .
  • the second arm 16 is coupled in an articulated manner to the gripper 18 .
  • the fland handling device 10 has a plurality of device surfaces 12a, 14a, 16a, 18a.
  • the base 12 is bounded by the device surface 12a.
  • the first arm 14 has the device surface 14a and the second arm 16 has the device surface 16a.
  • the gripper 18 has further device surfaces 18a, only one of which is provided with a reference number as an example.
  • the fluff handling device 10 can be operated in a workspace 20 in which objects 22 are present, which are also positioned in such a way that the fluff handling device 10 or parts thereof can collide with them.
  • such objects 22 are present in the illustrated embodiment in the form of a human 24, in the form of a comparatively small block 26 and in the form of a comparatively large block 28.
  • a safety device 30 In order to be able to operate the handling device 10 safely in such a working space 20 , ie to be able to operate it without undesired collisions with the objects 22 , it is equipped with a safety device 30 .
  • the safety device 30 comprises several, each positioned on one of the device surfaces 12a, 14a, 16a, 18a
  • the safety device 30 has an evaluation unit 34 . All distance sensor units 32 are coupled to the evaluation unit 34 in terms of signals.
  • a total of eleven distance sensor units 32 are visible in the embodiment shown in FIG.
  • Each of the distance sensor units 32 has a detection area 36 which is essentially conical in the illustrated embodiment. Limits of the detection areas 36 are indicated by two thin lines in the immediate vicinity of the associated distance sensor unit 32 . For better clarity, only some of the detection areas 36 are provided with a reference number in FIG.
  • the detection areas 36 can overlap at least in sections, as becomes clear in particular from FIGS.
  • the detection areas 36 of the distance sensor units 32 thus form a kind of shell around the handling device 10, at least in selected areas of the handling device 10, within which objects 22 can be detected and distances of the objects 22 from the device surfaces 12a, 14a, 16a, 18a can be determined.
  • the distance sensor units 32 are arranged in such a way that the associated Coverage areas 36 only overlap outside of a predefined safety distance S.
  • the handling device 10 can always be operated safely and reliably, despite the gaps in detection that have been accepted.
  • FIG. 4 an object 22 outside the safety distance S is shown as an example.
  • the handling device 10 switches to a force-controlled operating mode.
  • a travel speed of the handling device 10 is reduced to such an extent that a collision with the person 24 in particular does not cause any injuries.
  • the handling device 10 can stop as long as the object 22 is detected at the safety distance S.
  • each distance sensor unit 32 is also equipped with two distance sensors 32a, 32b (see FIG. 4 in combination with FIG. 1).
  • All distance sensors 32a, 32b work according to the so-called time-of-flight method, i.e. each of the distance sensors comprises a transmitter unit, not shown in detail, which emits a sensor signal and an associated receiver unit which receives a signal that may be reflected by an object 22 within the detection range 36 can capture. Based on the time that the sensor signal needs from the time it is sent to the time it is detected, and a signal propagation speed within the medium present in the working space 20, e.g. As air, a distance can thus be calculated.
  • the distance sensors 32a, 32b of a distance sensor unit 32 are arranged in such a way that the detection ranges of the distance sensors 32a, 32b are essentially identical.
  • a detection range of the distance sensor 32a essentially corresponds to the detection range 36. The same applies to the detection range of the distance sensor 32b.
  • distance sensors 32a, 32b are always used, which work according to different sensor principles.
  • distance sensor 32a is an infrared sensor and distance sensor 32b is an ultrasonic sensor.
  • the evaluation unit 34 is designed to carry out a method for determining a minimum distance of a detected object 22 from the device surface 12a, 14a, 16a, 18a with respect to each of the device surfaces 12a, 14a, 16a, 18a and each of the distance sensor units 32.
  • the distance values determined by the distance sensors 32a, 32b serve as input parameters for this method and are processed as raw distances.
  • a primary distance P is first determined on the basis of the raw distances.
  • the primary distance P corresponds to the smaller of the two raw distances determined by the distance sensors 32a, 32b.
  • an object 22 to be detected lies within the detection range 36 of the distance sensor unit 32 to be evaluated and has a primary distance P from the distance sensor unit 32 .
  • this primary distance P is not necessarily a minimum distance of the object 22 from the device surface 12a, 14a, 16a, 18a.
  • Figure 5 shows an example in which the device surface 12a, 14a, 16a, 18a is substantially planar.
  • FIG. 16a Another exemplary course of the device surface 16a is shown in FIG. In this case, the device surface 16a is convexly curved.
  • a critical point K must be determined, which is at the primary distance P from the relevant distance sensor unit 32 and within the associated detection area 36, but which comes closest to this, taking into account the spatial profile of the relevant device surface 12a, 14a, 16a, 18a.
  • this critical point K lies on an edge of the detection range 36 of the distance sensor unit 32.
  • the object 22 is shown with dashed lines Lines drawn in an associated position.
  • the critical point K is not on an edge of the detection range 36 of the distance sensor unit 32 under consideration.
  • the device surface 16a is convexly curved toward the object 22, and a radius of curvature of the device surface 16a is smaller than the pitch P.
  • the minimum distance M of the critical point K from the device surface 12a, 14a, 16a, 18a is determined. This minimum distance M is used for the operation of the handling device 10, which thus always works with a distance value that ensures safe operation.
  • individual distance sensor units 32 can also be deactivated or the signals they generate can be ignored.
  • the distance sensor unit 32 shown on the left detects both objects 22, 22'.
  • the adjacent distance sensor unit 32 i.e. the distance sensor unit 32 shown on the left in Figure 5
  • the adjacent distance sensor unit 32 must first be deactivated or the signals generated by it must be ignored. Only then can it Object 22 is reliably detected and an associated minimum distance M is determined.
  • the distance sensor unit 32 shown on the right in FIG. 5 is then deactivated or the signals generated by it are ignored. In this way, using each of the distance sensor units 32, a reliable minimum distance M can be calculated and used for the operation of the handling device 10.
  • the distance sensor units 32 are evaluated successively.
  • This distance sensor unit 32 can and should be evaluated essentially simultaneously only in the case shown in FIG.
  • the object 22 whose minimum distance M is to be determined is within the detection range of the adjacent distance sensor unit 32 .
  • the object 22 must therefore also lie outside an overlapping area of the detection areas 36 of the two adjacent distance sensor units 32 .
  • the overlapping area is highlighted by hatching. The object 22 can thus be localized more precisely than in a case in which only a single distance sensor unit 32 is available.
  • a distance sensor unit 32 must be able to be selectively deactivated when the handling device 10 assumes a pose in which the relevant distance sensor unit 32 would only detect components of the handling device 10 .
  • one or more distance sensors 32c can also be used within a distance sensor unit 32, which have an adjustable detection range. This is explained with reference to FIG.
  • the distance sensor 32c shown in FIG. 7 comprises a shielding device 40 which is mounted in a displaceable manner. In the configuration according to FIG. 7(a), the shielding device 40 is in a retracted position, resulting in a conical detection area with the cone angle Wi.
  • the shielding device 40 is in an extended position.
  • the resulting shielding results in a cone-shaped detection area with a cone angle W2 that is significantly smaller than cone angle W1.
  • Such distance sensors 32c are advantageously operated in a configuration corresponding to FIG. In this way, it is made easier to resolve the position of the object 22 relative to the handling device 10 .
  • the configuration according to FIG. 7(a), on the other hand, is preferably used when objects 22 are to be detected in the close range. In this way, the surroundings of the relevant component of the handling device 10 are completely covered, particularly in the close-up range. In other words, a safety distance S (see FIG. 4) can be kept relatively small in this way.
  • the previously described distances detected by means of the distance sensor units 32 are always processed in connection with a direction of movement of the handling device 10 .
  • control unit of the handling device 10 that is not shown in detail.
  • This control unit is specifically designed to control or regulate movements of the handling device 10 .
  • distances can be detected with reference to a current direction of movement of the handling device 10. It can thus be determined whether a detected distance is in front or behind in a direction of movement of the handling device 10 . In other words, it is determined whether the handling device 10 is moving towards the detected object 22 or away from it.
  • distances at the rear in the direction of movement are significantly less critical for the operation of the handling device 10 from a safety perspective than distances at the front in the direction of movement.
  • the gripper 18 of the handling device 10 moves along the direction R, then the position of the person 24 is essentially to be regarded as non-critical. Consequently, a travel speed of the handling device 10 does not have to be restricted because of the human 24 .
  • the evaluation unit 34 is also designed to store information about objects 22 that are present within the workspace 20 and to classify these objects 22 .
  • the handling device In the vicinity of such objects, the handling device must therefore always be operated at such a reduced travel speed that it can still stop in good time if the object 22 or the person 24 emerges. Alternatively, it must be operated in the force-controlled mode in the vicinity of such objects.
  • the storage and classification of information on such critical objects 22 on the evaluation unit 34 can take place, for example, as part of a learning trip.
  • FIG. 9 shows a variant of the safety device 30.
  • the distance sensor unit 32 is movably arranged on the device surface 16a.
  • the distance sensor unit 32 can be moved along a rail 42 .
  • the safety device 30 can also have a plurality of such movable distance sensor units 32 .
  • the range of movement of the distance sensor unit 32 can be selected specifically for the application.
  • a rail 42 running essentially in the shape of a ring can also be provided in this connection, so that the distance sensor unit 32 can be moved over the entire circumference of the arm 16 .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un procédé pour déterminer une distance minimale entre un objet (22) et une surface d'appareil (12a, 14a, 16a, 18a), en particulier pour déterminer une distance minimale entre un objet (22) et une surface d'appareil (12a, 14a, 16a, 18a) d'un appareil de manutention (10). Dans ce cas, une distance primaire de l'objet (22) est capturée en tant que distance de l'objet par une unité de capteur de distance (32) dans ou sur la surface d'appareil (12a, 14a, 16a, 18a). Un point critique qui se trouve à la distance primaire de l'unité de capteur de distance (32) et se trouve dans une plage de capture (36) de l'unité de capteur de distance (32) et qui se rapproche le plus de la surface d'appareil (12a, 14a, 16a, 18a) en tenant compte d'une trajectoire spatiale de celle-ci est également déterminé. Enfin, une distance minimale entre le point critique et la surface d'appareil (12a, 14a, 16a, 18a) est déterminée. La présente invention concerne également un dispositif de sécurité (30) pour un appareil de manutention (10) ayant une surface d'appareil (12a, 14a, 16a, 18a) et un appareil de manutention (10) équipé dudit dispositif de sécurité.
EP21709357.4A 2021-02-26 2021-02-26 Procédé pour déterminer une distance minimale entre un objet et une surface d'appareil, dispositif de sécurité pour un appareil de manutention ayant une surface d'appareil, et appareil de manutention Pending EP4298370A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2021/054849 WO2022179698A1 (fr) 2021-02-26 2021-02-26 Procédé pour déterminer une distance minimale entre un objet et une surface d'appareil, dispositif de sécurité pour un appareil de manutention ayant une surface d'appareil, et appareil de manutention

Publications (1)

Publication Number Publication Date
EP4298370A1 true EP4298370A1 (fr) 2024-01-03

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP21709357.4A Pending EP4298370A1 (fr) 2021-02-26 2021-02-26 Procédé pour déterminer une distance minimale entre un objet et une surface d'appareil, dispositif de sécurité pour un appareil de manutention ayant une surface d'appareil, et appareil de manutention

Country Status (4)

Country Link
US (1) US20240227193A9 (fr)
EP (1) EP4298370A1 (fr)
KR (1) KR20230147676A (fr)
WO (1) WO2022179698A1 (fr)

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202013104860U1 (de) * 2013-10-30 2015-02-02 Daimler Ag Arbeitsvorrichtung

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KR20230147676A (ko) 2023-10-23
US20240131715A1 (en) 2024-04-25
WO2022179698A1 (fr) 2022-09-01
US20240227193A9 (en) 2024-07-11

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