JP2010240773A - Method of calculating intrusion prohibited area of robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To efficiently obtain an intrusion prohibited area of robots. <P>SOLUTION: In this method of calculating an intrusion prohibited area of robots which is used to calculate an intrusion prohibited area into which the entry of the other robots is prohibited which is formed in a space area in which the operations of a robot are virtually reproduced. The space area is divided stepwise to form a plurality of space blocks, and the space blocks which do not include the operations of the robot are eliminated from the objects for calculation. While narrowing down the areas to be calculated, the intrusion prohibited area is calculated. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a robot intrusion prohibited area calculation method.

  When operating a plurality of robots, it is necessary to prevent collisions between the robots. Therefore, a method is known in which a space in which a robot operates is reproduced in a memory space in a pseudo manner, and an intrusion prohibited area for prohibiting the intrusion of another robot is formed around the robot. Further, for such a method, it is required not to form an intrusion prohibited area in an unnecessary area in order to maintain the freedom of movement of the robot. For this reason, there is known a robot intrusion prohibition area calculation method for dividing a memory space as finely as possible, forming a robot pattern in the partitioned memory space, and generating an intrusion prohibition area (for example, Patent Documents). 1).

Japanese Unexamined Patent Publication No. 7-68488

  However, in the above robot intrusion prohibition area calculation method, it is necessary to form the robot pattern from the memory space finely divided from the beginning and specify the intrusion prohibition area. There has been a problem that the amount of processing becomes enormous and calculation processing time is required.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms or application examples.

  [Application Example 1] The robot intrusion prohibition area calculation method according to this application example is a robot intrusion that calculates an intrusion prohibition area that prohibits the intrusion of another robot out of a spatial area in which a robot operation is simulated. A forbidden area calculation method, wherein the space area is finely divided stepwise to form a plurality of space blocks, and the space block not including the robot motion is excluded from the calculation target area. And a calculation step of calculating the intrusion prohibited area while narrowing down.

  According to this configuration, the space area is divided, and from among the divided space areas, the space area that does not include the motion of the robot is excluded from calculation targets, and the remaining space areas are set as calculation targets. Then, while subdividing the space area in stages, the non-calculation area is excluded and the calculation target area is narrowed. Accordingly, the robot region can be specified at a fast stage, and the calculation processing amount can be reduced, so that the calculation processing speed can be increased.

  Application Example 2 In the calculation step of the robot intrusion prohibited area calculation method according to the application example, the first space dividing step of dividing the space area to form a plurality of first space blocks; Among the spatial blocks, the first spatial block including the robot motion is determined as a first computation target block, and the first spatial block not including the robot motion is determined as a first non-computation target block. A first computation target determining step, a first exclusion step for excluding the first non-computation target block from computation targets, and a first computation target block being divided to form a plurality of second spatial blocks. When the second space block including the motion of the robot among the second space blocks and the second space block is determined as the second calculation target block. In addition, a second calculation target determining step for determining the second spatial block not including the robot motion as a second non-calculation target block, and a second for excluding the second non-calculation target block from the calculation target And an exclusion step.

  According to this configuration, a plurality of first space blocks are formed in the first space division step. The first space block including the robot motion and the first space block not including the robot motion are divided into the first space block including the robot motion as the first calculation target block, and the second space In the dividing step, the first space block of the first calculation target block is divided to form a plurality of second space blocks. That is, the first space block that does not include the motion of the robot is excluded from the calculation target. Then, the first space block to be calculated is divided into a second space block that includes the robot motion and a second space block that does not include the robot motion. Therefore, the calculation target area is narrower in the second calculation target determination step than in the first calculation target determination step. As described above, since the calculation area target area is narrowed while excluding a portion unnecessary for the calculation, the calculation processing speed can be increased.

  Application Example 3 In the calculation step of the robot intrusion prohibited area calculation method according to the application example, the space area is finely divided into the space blocks having a predetermined size step by step.

  According to this configuration, the calculation processing routine can be easily performed by dividing the space area into a predetermined size.

  Application Example 4 In the calculation step of the robot intrusion prohibited area calculation method according to the application example, the space area is divided into space blocks having a size that allows the robot to stop urgently. To do.

  According to this structure, the limit which divides | segments a space area | region is controlled. Thereby, it is possible to prevent inadvertent repeated division of the space area.

  Application Example 5 In the robot intrusion prohibited area calculation method according to the application example, the intrusion prohibited area includes a protection area provided around the robot.

  According to this configuration, since the intrusion prohibition area is calculated including the protection area provided around the robot, the safety of the robot can be further improved.

  Application Example 6 In the robot intrusion prohibited area calculation method according to the application example, the calculation step includes an interlock setting step for setting an interlock for the space block corresponding to the calculation target area after the calculation step. It is characterized by that.

  According to this configuration, since the other robots are prevented from entering the area where the interlock is set, the robots can be prevented from colliding with each other.

The flowchart which shows the intrusion prohibition area | region calculation method of a robot. Explanatory drawing which shows the example of an intrusion prohibition area | region calculation method. Explanatory drawing which shows the example of an intrusion prohibition area | region calculation method.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, embodiments of the invention will be described with reference to the drawings.

  FIG. 1 is a flowchart showing a robot intrusion prohibited area calculation method. 2 and 3 are explanatory diagrams illustrating a robot intrusion prohibited area calculation method.

  First, the space area 20 in which the robot 10 operates will be described. For example, as shown in FIG. 2A, the space area 20 is a memory space that simulates an operation space in which the robot 10 operates. Then, the robot 10 is arranged in the space area 20, and drive control of the robot 10 can be performed in the space area 20. The space area 20 can reproduce the space in which the robot 10 operates in a pseudo manner, for example, as a three-dimensional cube (in the present embodiment, it is represented in two dimensions).

  In such a space area 20, for example, when a plurality of robots 10 are operated in cooperation, it is necessary to prevent a collision between the robots 10 and the like. For this reason, a method is adopted in which the space area 20 is divided to form a plurality of space blocks, an interlock is set in the operation area of each robot 10, and an intrusion prohibited area for prohibiting the intrusion of another robot is formed. be able to. Moreover, in such a method, it is necessary to form one space block as small as possible according to the shape and operation state of the robot 10. This is to increase the degree of freedom of operation of the robot 10 and increase work efficiency.

  However, when the space block is formed small from the initial stage, it is necessary to determine whether or not there is an intrusion prohibited area for all the space blocks. That is, since all the spatial blocks are calculation target areas for calculating the intrusion prohibition area, the calculation processing amount becomes enormous and the calculation speed may be reduced. The present invention has been made to solve the above inconveniences, and hereinafter, a robot intrusion prohibited area calculation method will be specifically described.

  In FIG. 1, in step S1, a space area is divided (first space division step). Specifically, as shown in FIG. 2B, the space region 20 is divided to form a plurality of first space blocks 21. Here, the size to be divided can be appropriately set according to the shape, size, arrangement, operation, and the like of the robot 10. In this embodiment, the space area 20 is divided into nine 3 × 3 first space blocks 21. At this time, all the areas of the first space block 21 become the calculation area 15 for calculating the intrusion prohibited area.

  In step S2, a calculation target is determined (first calculation target determination step). Specifically, as shown in FIG. 2B, for the divided first space block 21, the first space block 21a including the motion of the robot 10 and the first space block 21 including the motion of the robot 10 are not included. It is distinguished from the one space block 21b. Then, the first space block 21a including the movement of the robot 10 is determined as the first calculation target block 21a, and the first space block 21b including no movement of the robot 10 is determined as the first non-calculation target block 21b. .

  In this embodiment, the protection area 11 is set around the robot 10 in advance. In the protection area 11, a range where the robot 10 can be stopped when the robot 10 is stopped urgently is set as the protection area 11. In the present embodiment, an area where the robot 10 and the protection area 11 are combined will be described as an area of the robot 10.

  In step S3, it is determined whether there is a non-operation target block. When there is a non-operation target block (YES), the process proceeds to step S4, and when there is no non-operation target block (NO), the process proceeds to step S7.

  In step S4, the non-computation target block is excluded from the computation target (first exclusion step). Specifically, as shown in FIG. 2C, the first non-computation target block 21b is excluded from the basic computation area 15, and only the first computation target block 21a remains. Then, the first calculation target block 21a is set as a new calculation area 15a. On the other hand, the entire area of the first non-calculation target block 21b is set as the non-calculation target area 16a and is excluded from the subsequent calculation targets.

  In step S5, it is determined whether or not to continue the division of the spatial block. When the space block division is continued (YES), the process proceeds to step S6, and when the space block division is not continued (NO), the process proceeds to step S7.

  In the present embodiment, a case where the space block division is continued (YES) will be described.

  In step S6, the first calculation target block 21a is divided (second space division step). Specifically, as shown in FIG. 2D, the first calculation target block 21a is divided to form a plurality of second space blocks 22. Here, the size to be divided can be appropriately set according to the shape, size, arrangement, operation, and the like of the robot 10. In the present embodiment, one first calculation target block 21 a is divided into 4 × 2 second space blocks 22. Next, the process proceeds to step S2.

  In step S2, a calculation target is determined (second calculation target determination step). Specifically, as shown in FIG. 2D, a second space block 22a that includes the motion of the robot 10 and a motion that does not include the motion of the robot 10 with respect to the divided second space block 22. The two space blocks 22b are distinguished. Then, the second space block 22a including the movement of the robot 10 is determined as the second calculation target block 22a, and the second space block 22b including no movement of the robot 10 is determined as the second non-calculation target block 22b. .

  Next, in step S3, it is determined whether or not there is a non-operation target block. If there is a non-operation target block (YES), the process proceeds to step S4, and if there is no non-operation target block (NO). The process proceeds to step S7.

  In step S4, the non-computation target block is excluded from the computation target (second exclusion step). Specifically, as shown in FIG. 2E, the second non-computation target block 22b is excluded from the previously set computation area 15a, and only the second computation target block 22a remains. Then, the second calculation target block 22a is set as a new calculation area 15b. On the other hand, the second non-calculation target block 22b is set as the non-calculation target area 16b together with the first non-calculation target block 21b, and is excluded from the subsequent calculation targets.

  Next, in step S5, it is determined whether or not to continue the division of the spatial block. If the division of the spatial block is continued (YES), the process proceeds to step S6 and the division of the spatial block is not continued (NO). In the case, the process proceeds to step S7. Hereinafter, the case where the space block division is continued (YES) will be described with reference to FIGS. 2 and 3.

  In step S6, the second calculation target block 22a is divided (third space division step). Specifically, as shown in FIG. 2F, the second calculation target block 22a is divided to form a plurality of third space blocks 23. Here, the size to be divided can be appropriately set according to the shape, size, arrangement, operation, and the like of the robot 10. In the present embodiment, one second calculation target block 22 a is divided into 4 × 3 third space blocks 23. Next, the process proceeds to step S2.

  In step S2, a calculation target is determined (third calculation target determination step). Specifically, as shown in FIG. 2 (f), the third space block 23a that includes the motion of the robot 10 and the motion that does not include the motion of the robot 10 with respect to the divided third space block 23. The three-space block 23b is distinguished. Then, the third space block 23a including the operation of the robot 10 is determined as the third calculation target block 23a, and the third space block 23b including no operation of the robot 10 is determined as the third non-calculation target block 23b. .

  Next, in step S3, it is determined whether or not there is a non-operation target block. If there is a non-operation target block (YES), the process proceeds to step S4, and if there is no non-operation target block (NO). The process proceeds to step S7.

  In step S4, the non-calculation target block is excluded from the calculation target (third exclusion step). Specifically, as shown in FIG. 3A, the third non-calculation target block 23b is excluded from the previously set calculation area 15b, and only the third calculation target block 23a remains. Then, the third calculation target block 23a is set as a new calculation area 15c. On the other hand, the third non-computation target block 23b is set as the non-computation target area 16c together with the first non-computation target block 21b and the second non-computation target block 22b, and is excluded from the subsequent computation targets.

  Next, in step S5, it is determined whether or not the space block division is to be continued. If the space block division is to be continued (YES), the process proceeds to step S6.

  In step S6, the third computation target block 23a is divided (fourth space division step). Specifically, as shown in FIG. 3B, the third computation target block 23a is divided to form a plurality of fourth space blocks 24. Here, the size to be divided can be appropriately set according to the shape, size, arrangement, operation, and the like of the robot 10. In the present embodiment, one third calculation target block 23a is divided into 4 × 4 fourth space blocks 24 of 2 × 2. Next, the process proceeds to step S2.

  In step S2, a calculation target is determined (fourth calculation target determination step). Specifically, as shown in FIG. 3B, the fourth space block 24 a that includes the motion of the robot 10 and the motion that does not include the motion of the robot 10 with respect to the divided fourth space block 24. The four space blocks 24b are distinguished. Then, the fourth space block 24a including the movement of the robot 10 is determined as the fourth calculation target block 24a, and the fourth space block 24b including no movement of the robot 10 is determined as the fourth non-calculation target block 24b. .

  Next, in step S3, it is determined whether or not there is a non-operation target block. If there is a non-operation target block (YES), the process proceeds to step S4, and if there is no non-operation target block (NO). The process proceeds to step S7.

  In step S4, the non-computation target block is excluded from the computation targets (fourth exclusion step). Specifically, as shown in FIG. 3C, the fourth non-calculation target block 24b is excluded from the previously set calculation area 15c, and only the fourth calculation target block 24a remains. Then, the fourth calculation target block 24a is set as a new calculation area 15d. On the other hand, the fourth non-calculation target block 24b is set as the non-calculation target area 16d together with the first non-calculation target block 21b, the second non-calculation target block 22b, and the third non-calculation target block 23b.

  As described above, the method of dividing the space area 20 step by step to the fourth calculation target block 24a having a size having an area where the robot 10 can be stopped urgently and narrowing the calculation area 15 to the calculation area 15d has been described. Next, step S7 will be described.

  In step S7, an interlock is set (interlock setting step). Specifically, as illustrated in FIG. 3C, the calculation area 15 d that is finally narrowed down the calculation target is determined to be the intrusion prohibition area 30, and the fourth space block 24 a that configures the intrusion prohibition area 30. Interlock is set for all of. Thereby, the intrusion of another robot can be prevented, and a collision between the robots can be avoided.

  Therefore, according to the above embodiment, the following effects can be obtained.

  First, the first space block 21 was formed by appropriately dividing the space region 20. And the 1st space block 21 corresponding to the position of the robot 10 was made into the 1st calculation object block 21a, and the other 1st space block 21b was excluded from the calculation object. Next, the first calculation target block 21a is divided, the second space block 22 corresponding to the position of the robot 10 is set as the second calculation target block 22a, and the other second space block 22b is excluded from the calculation target. Then, the above steps were repeated, and the space blocks 21 to 24 were divided stepwise, unnecessary calculation areas were excluded from calculation targets, and calculation target areas were narrowed down. Thus, the amount of computation in the process of narrowing down from a large area (space area 20) to a small area (fourth computation target block 24a) is reduced, so that the intrusion prohibited area 30 can be calculated at high speed.

  In addition, it is not limited to said embodiment, The following modifications are mentioned.

  (Modification 1) In this embodiment, the protection area 11 is provided in advance in the area of the robot 10, but this may be omitted. Even if it does in this way, the effect similar to the case where the protection area | region 11 is provided is acquired by dividing | segmenting into the space block of the magnitude | size which the robot 10 has an area | region where an emergency stop is possible, and setting an interlock to the said space block. be able to.

  (Modification 2) In this embodiment, the division of the space block is repeated three times, but the present invention is not limited to this. For example, after the first computation target determination step in FIG. 2C is completed, the space block 24 shown in FIG. 3B is divided into sizes (sizes having an area where the robot 10 can be stopped urgently). Also good. Even in this case, the amount of calculation can be reduced as compared with the method of forming the space block finely from the beginning, so that the intrusion prohibited area 30 can be calculated earlier.

  (Modification 3) In the above embodiment, an industrial robot has been mainly described as an example, but the present invention is not limited to this. For example, the present invention can be applied to other moving bodies and toys. Even if it does in this way, the same effect as the above can be acquired.

  DESCRIPTION OF SYMBOLS 10 ... Robot, 11 ... Protection area | region, 15, 15a-15d ... Calculation area | region, 16a-16d ... Non-operation object area | region, 20 ... Spatial area, 21-24 ... Space block, 21a-24a ... Space block as calculation object block , 21b to 24b... Spatial blocks as non-computation target blocks, 30.

Claims (6)

A robot intrusion prohibition area calculation method for calculating an intrusion prohibition area for prohibiting the intrusion of another robot out of a spatial area in which a robot operation is simulated.
The space area is finely divided in steps to form a plurality of space blocks, and the space block that does not include the operation of the robot is excluded from the calculation target, while narrowing down the calculation target area, A method for calculating an intrusion prohibited area of a robot, comprising a calculating step of calculating The robot intrusion prohibited area calculation method according to claim 1,
In the calculating step,
A first space dividing step of dividing the space region to form a plurality of first space blocks;
Among the first space blocks, the first space block that includes the motion of the robot is determined as a first computation target block, and the first space block that does not include the motion of the robot is a first non-computation target. A first computation object determination step for determining a block;
A first exclusion step of excluding the first non-computation target block from the computation target;
A second space dividing step of dividing the first computation target block to form a plurality of second space blocks;
Among the second space blocks, the second space block that includes the motion of the robot is determined as a second computation target block, and the second space block that does not include the motion of the robot is determined as a second non-computation target. A second operation target determination step for determining a block;
And a second exclusion step for excluding the second non-computation target block from the computation target. The robot intrusion prohibited area calculation method according to claim 1 or 2,
In the calculating step,
A robot intrusion prohibited area calculation method, wherein the space area is finely divided stepwise into the space blocks having a predetermined size. In the intrusion prohibition area calculation method of the robot according to any one of claims 1 to 3,
In the calculating step,
A robot intrusion prohibition area calculation method, wherein the space area is divided into a space block having a size having an area where the robot can stop urgently. In the robot intrusion prohibition area calculation method according to any one of claims 1 to 4,
The intrusion prohibition area calculation method for a robot, wherein the intrusion prohibition area includes a protection area provided around the robot. In the robot intrusion prohibition area calculation method according to any one of claims 1 to 5,
After the calculating step,
An intrusion prohibition area calculation method for a robot, comprising an interlock setting step for setting an interlock for the space block corresponding to the calculation target area.

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