JP2022137797A - Safety verification apparatus, safety verification method, and program - Google Patents

Abstract

To provide a technique for easily verifying whether actual environment is constructed as designed in simulation.SOLUTION: A safety verification apparatus includes: real environment information acquiring means for acquiring three dimensional space information representing a working area of a robot; virtual environment information acquiring means for acquiring a three dimensional model of a virtual space in which the robot and its peripheral elements are respectively arranged; comparison means compares configuration of at least one of the robot and the peripheral element between the virtual space of a simulation and an actual work area by using the acquired three dimensional model and the three dimensional space information of the work area; and output means which outputs a comparison result by the comparison means.SELECTED DRAWING: Figure 1

Description

The present invention relates to a safety verification device, a safety verification method, and a program.

In the FA (factory automation) field, computer simulation is beginning to be used for teaching and motion verification of industrial robots. For example, by arranging a 3D model of the robot and its peripheral elements (workbench, work, other machines, safety fences, etc.) can be verified and whether there are any safety issues.

Patent Document 1 discloses an interference determination device that performs a simulation using a three-dimensional model of a robot, a workpiece, and a peripheral arrangement (such as a tray), and determines interference with the workpiece and the peripheral arrangement while the robot is moving. ing.

JP 2019-171501 A

If the operation and safety can be confirmed in advance by simulation using a 3D model, it is possible to reduce the startup time when introducing the robot (actual machine) into the factory, which is a great advantage. However, in reality, there is some difference between the virtual environment used in the simulation and the real environment in the factory, which may become a risk factor. For example, even though a safety fence was installed around the robot in the simulation, if the safety fence is forgotten or misplaced in the actual environment, the safety guaranteed by the simulation is meaningless. Become. Also, if the three-dimensional model of the robot used in the simulation differs from the shape of the actual machine, there is a risk of unexpected interference occurring. The existence of critical differences should not be overlooked, but it is not easy for humans to discover all the differences between the virtual environment and the real environment.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a technique for easily verifying whether a real environment is constructed as designed in simulation.

In order to achieve the above objects, the present invention employs the following configurations.

A first aspect of the present invention includes real environment information acquisition means for acquiring three-dimensional space information representing a work area of a robot, and virtual environment information for acquiring a three-dimensional model of a virtual space in which the robot and its peripheral elements are arranged. At least one of the robot and the peripheral elements is moved between the virtual space of the simulation and the actual work area by using the obtaining means, the obtained three-dimensional model, and the three-dimensional space information of the work area. Provided is a safety verification device comprising comparison means for comparing configurations, and output means for outputting a result of comparison by the comparison means.

The three-dimensional space information is information representing the actual environment (work area of the robot). For example, three-dimensional space information may be obtained by measuring the actual environment (work area of the robot) with a three-dimensional sensor. The three-dimensional space information includes, for example, three-dimensional shape/position information of the robot and its peripheral elements. On the other hand, a three-dimensional model is information representing a virtual environment rather than a measurement of the real environment. For example, the three-dimensional model may be data that the simulator uses for simulation. The safety verification device compares the two and confirms whether or not there is a difference in the configuration of the robot and peripheral elements.

As a result, the user can easily verify whether the actual environment is constructed as designed in the simulation. That is, when there is no difference or the difference is negligible, the operation and safety as designed can be guaranteed. Conversely, if it is found that there is a non-negligible difference, it can lead to the discovery of installation errors, the review of safety measures, the necessity of off-line teaching and re-simulation, and the like.

The output means may output a comparison screen between the three-dimensional model and the three-dimensional space information of the work area to a display device. This allows easy and visual confirmation of the match/difference between the virtual space of the simulation and the actual work area.

The output means may superimpose the three-dimensional model and the three-dimensional space information on the comparison screen. Such a comparison screen makes it easy to compare the shape/arrangement assumed in the simulation with the actual shape/arrangement.

The output means may output the difference portion between the three-dimensional model and the three-dimensional space information on the comparison screen in a manner identifiable from other portions. With such a comparison screen, it is possible to easily and intuitively grasp the difference between the shape/arrangement assumed in the simulation and the actual shape/arrangement.

The output means provides, on the comparison screen, a first difference portion that exists in the three-dimensional model but does not exist in the three-dimensional space information, and a first difference portion that does not exist in the three-dimensional model but does not exist in the three-dimensional space. You may output the 2nd different part which exists in a mutually different aspect. This is because the response that should be taken may differ between the case where what was assumed in the simulation did not actually exist and, conversely, the case where what was not assumed in the simulation actually existed. .

The apparatus may further include updating means for updating the three-dimensional model in accordance with the three-dimensional space information in order to perform a simulation reflecting an actual work area. According to this configuration, the three-dimensional model for simulation is modified so as to match the shapes and positions of the robot and peripheral elements in the actual work area. Therefore, highly accurate simulation can be easily realized under the same conditions as the actual work area.

A monitoring system having a three-dimensional sensor may be installed to monitor the work area of the robot, and the real environment information acquiring means may acquire three-dimensional space information of the work area from the monitoring system. . By using the three-dimensional sensor of the monitoring system, it is not necessary to prepare a dedicated three-dimensional sensor for the safety verification device, so it is possible to reduce costs and improve convenience.

The comparing means may perform coordinate matching between the three-dimensional model and the three-dimensional space information of the work area, using the position of the three-dimensional sensor of the monitoring system as a reference. Since the three-dimensional spatial information is generated from the measurement results of the three-dimensional sensor, it is easy to express it in a coordinate system based on the position of the three-dimensional sensor. Therefore, it is possible to easily match the coordinates of the virtual space (three-dimensional model) and the real space (work area).

The comparison means may have a user interface for correcting the 3D spatial information of the work area prior to comparison with the 3D model. With the above user interface, it is possible to manually correct error data and missing data in 3D space information, so it is possible to improve the accuracy and reliability of later comparison processing with 3D models. become.

A second aspect of the present invention includes a step of acquiring three-dimensional space information representing a work area of a robot, a step of acquiring a three-dimensional model of a virtual space in which the robot and its peripheral elements are arranged, and a step of acquiring the acquired three-dimensional model. comparing configurations of the robot and/or the peripheral elements between a simulated virtual space and an actual work area using the dimensional model and the three-dimensional spatial information of the work area; and outputting the result of the comparing step.

A third aspect of the present invention provides a program for causing a computer to execute each step of the safety verification method described above.

The present invention may be regarded as a safety verification device or a real environment verification device having at least part of the above means. The present invention also provides a system comprising a safety verification device and a three-dimensional sensor, a system comprising a safety verification device and a monitoring system, a system comprising a safety verification device and a simulator, or a system comprising a safety verification device, a simulator and a monitoring system. can be taken as Further, the present invention may be regarded as a safety verification method having at least part of the above processing, a control method for a safety verification device, or the like, or a program for realizing such a method or a non-temporarily recorded program for the program. It can also be regarded as a recording medium. It should be noted that each of the means and processes described above can be combined with each other as much as possible to constitute the present invention.

According to the present invention, it is possible to easily verify whether or not the real environment is constructed according to the design assumed in the simulation.

FIG. 1 is a diagram schematically showing a configuration example of a simulation system including a safety verification device according to one embodiment of the present invention. FIG. 2 is a block diagram showing a configuration example of a simulation system. FIG. 3 is a flow chart showing the flow of safety verification processing by the safety verification device. FIG. 4 is a diagram showing an example of a simulation (virtual environment) and a work area (real environment) in a factory. FIG. 5 is a diagram showing an example of a comparison screen. FIG. 6 is a diagram showing an example of a comparison screen. FIG. 7 is a diagram showing an example of a user interface for correcting three-dimensional spatial information.

<Application example>
An application example of the present invention will be described with reference to FIG. FIG. 1 schematically shows a configuration example of a simulation system 1 including a safety verification device according to one embodiment of the present invention.

This simulation system 1 includes an industrial robot (hereinafter referred to as "robot") 21
It is a system for teaching (control program development), simulation, safety verification, etc. As shown in FIG. 1, the simulation system 1 includes a safety verification device 10 and a simulator 11. As shown in FIG. The simulation system 1 can communicate with a robot controller 20 for controlling the robot 21 and a monitoring system 30 for monitoring the work area of the robot 21 via a network. For example, a user who maintains or manages the robot 21 may use the simulation system 1 to remotely access the robot controller 20 and the monitoring system 30 installed in the factory via the Internet.

The simulator 11 is an integrated development tool having a control program development function for the robot 21 and a simulation function using a three-dimensional model. That is, the user creates a control program for the robot controller 20 using the simulator 11, executes the control program using an emulator, confirms the motion and arrangement of the robot and its peripheral elements in the virtual space, It is possible to debug programs, verify operations, verify safety, and the like. The created control program can be installed in the robot controller 20 via the network. By using such a simulator 11, teaching and operation verification can be performed without an actual machine (robot 21 or robot controller 20). Therefore, there are advantages such as the ability to significantly reduce the startup time when equipment is introduced into a factory, and the ability to perform teaching and maintenance by remote control.

The simulator 11 is a virtual environment in which a three-dimensional model (eg, CAD data) of the robot 21 and its peripheral elements (eg, workbench, work, tools, parts, other machines, safety fences, etc.) is arranged in a virtual space. to run the simulation. If this virtual environment sufficiently matches the real environment of the factory, the validity and reliability of the simulation results are guaranteed. However, in reality, there are cases where some difference exists between the virtual environment and the real environment. The existence of critical differences should not be overlooked, but it is not easy for humans to discover all the differences between the virtual environment and the real environment. In particular, when the person in charge of teaching (the user of the simulator 11) and the person in charge of the equipment (the user who starts up the actual machine at the factory) are different, or the simulator 11 is installed remotely (at a place different from the factory). It is extremely difficult to compare virtual and real environments when

In order to solve such problems, the safety verification device 10 provides a function of comparing the virtual environment used by the simulator 11 and the real environment in the factory and determining whether there is a difference. Specifically, by measuring the work area of the robot 21 with the three-dimensional sensor 31, three-dimensional space information of the work area is generated and provided to the safety verification device 10 as real environment information. The safety verification device 10 compares this real environment information with the three-dimensional model (virtual environment information) obtained from the simulator 11, and determines the configuration of the robot and its peripheral elements (that is, the three-dimensional shape, position, and size). etc.) is different. Then, it outputs the comparison result between the real environment and the virtual environment. For example, if there is a discrepancy between the two, a notification may be output to notify the user of the problem. In addition, if there is no difference between the two (or the difference is so small that it does not pose a problem), a notification to the effect that the safety as simulated is ensured may be output. Furthermore, the safety verification device 10 may make necessary corrections to the simulation information and the control program.

By using such a safety verification device 10, the user can easily verify whether or not the actual environment is constructed as designed in the simulation. That is, when there is no difference or the difference is negligible, the operation and safety as designed can be guaranteed. Conversely, if it is found that there is a non-negligible difference, it can lead to the discovery of installation errors, the review of safety measures, the necessity of off-line teaching and re-simulation, and the like.

<Embodiment>
FIG. 2 is a block diagram showing a configuration example of the simulation system 1 according to this embodiment.

The simulation system 1 has a safety verification device 10, a simulator 11, a display device 12, and an input device 13 as main components. The safety verification device 10 has a real environment information acquisition unit 100 , a virtual environment information acquisition unit 101 , a comparison unit 102 , an output unit 103 and a simulation data update unit 104 . The simulator 11 has a simulation data storage unit 110 that stores simulation data.

The real environment information acquisition unit 100 acquires three-dimensional space information (sensor data) of the work area measured by the three-dimensional sensor 31 . This three-dimensional space information includes the three-dimensional space of the robot 21 installed in the work area and the surrounding elements (for example, workbench, work, tools, parts, other machines, safety fences, etc.). information such as shape, position, and size. Although the specific data format of the three-dimensional space information does not matter, point cloud data is used as an example in this embodiment.

The virtual environment information acquisition unit 101 acquires a three-dimensional model (simulation data) used for simulation from the simulator 11 . This three-dimensional model includes a three-dimensional model of the robot and its surrounding elements. Although the specific data format of the three-dimensional model does not matter, for example, data generated from three-dimensional CAD design information is used.

The comparison unit 102 compares the three-dimensional space information (sensor data) of the work area with the three-dimensional model (simulation data) used for the simulation. Then, the comparison unit 102 determines whether or not the configurations of the robot and/or peripheral elements are different between the virtual space of the simulation and the actual work area.

The output unit 103 outputs comparison results and determination results obtained by the comparison unit 102 . The output destination of the information is the display device 12 provided in the simulation system 1, an external device (for example, another computer, PLC, etc.), and the like.

The simulation data update unit 104 has a function of updating the three-dimensional model according to the three-dimensional space information (sensor data) based on the comparison result and determination result by the comparison unit 102 . The updated three-dimensional model is stored in the simulation data storage unit 110 and used for re-simulation.

The simulation data storage unit 110 stores data groups used by the simulator 11 for simulation. The simulation data may include, for example, a three-dimensional model of the robot and its peripheral elements, a control program for the robot controller, various condition settings during execution of the simulation, and the like. The simulator 11 can communicate with the robot controller 20, write a control program to the robot controller 20, and acquire information on the robot controller 20 side.

The display device 12 is a device for displaying information, and uses, for example, a liquid crystal display or an organic EL display. The input device 13 is a device for inputting information, and uses, for example, a keyboard, a mouse, a touch panel, and the like. A touch panel display that serves as both the display device 12 and the input device 13 may be used.

The simulation system 1 may be composed of, for example, a personal computer including a processor, memory, storage, and the like. In that case, the processor loads the program stored in the storage into the memory and executes the program to provide the functions of the units shown in FIG. Note that the configuration is not limited to this configuration, and some or all of the functions in FIG. 2 may be configured by ASIC, FPGA, or the like, or may be realized by cloud computing or distributed computing.

<Three-dimensional sensor>
The three-dimensional sensor 31 is a device that measures three-dimensional spatial information. Any type of sensor may be used as long as it can measure the three-dimensional shape, position, and size of an object existing within the work area. Either an active system or a passive system may be used, and any principle such as a TOF camera, a stereo camera, structured illumination, or LiDAR may be used. In this embodiment, a TOF sensor (TOF camera) that acquires a range image from the time of flight (TOF) of light using infrared light is used. Note that the TOF method includes a direct type and an indirect type, and either of them may be used. A TOF sensor of the type that obtains distance information is used.

1 and 2 utilize the three-dimensional sensor 31 of the monitoring system 30 installed in the work area of the robot 21. FIG. The reason for this is that by using the three-dimensional sensor 31 of the monitoring system 30, which is an existing facility, it is not necessary to prepare a dedicated three-dimensional sensor for the safety verification device 10, thereby reducing costs and improving convenience. This is because it is possible to In addition, since the three-dimensional sensor 31 of the monitoring system 30 is fixed at an optimum position where the work area of the robot 21 can be measured, necessary and sufficient information for safety verification (comparison with virtual environment information) is obtained. A range of sensor data can be reliably obtained. Moreover, if the three-dimensional sensor 31 of the monitoring system 30 is used, since the installation position (relative positional relationship with respect to the work area and the robot 21) is known, there is an advantage that it is easy to perform coordinate matching with virtual environment information, which will be described later. There is also

In this embodiment, the three-dimensional sensor 31 of the monitoring system 30 is used, but of course, a three-dimensional sensor unrelated to the monitoring system 30 or an unfixed three-dimensional sensor may be used. I don't mind. For example, using a 3D sensor that measures while moving, or multiple 3D sensors installed at different positions, the work area is measured from multiple different viewpoints, and the measurement results are integrated. Three-dimensional spatial information may be generated. A fixed three-dimensional sensor 31 such as that shown in FIG. 1 inevitably has blind spots (areas that cannot be measured). You can expect to get

<Safety verification method>
An example of the safety verification method of this embodiment will be described with reference to FIG. FIG. 3 is a flow chart showing the flow of processing by the safety verification device. This safety verification compares the virtual environment used in the simulation with the actual environment in the factory, and checks for any differences between the virtual environment and the actual environment to ensure that the designed safety is maintained during the simulation (during teaching). This is the process of verifying whether or not this is guaranteed even on site. Therefore, before the process of FIG. 3 is performed, (1) a simulation is performed by the simulator 11, the simulation data used at that time is stored in the simulation storage unit 110, and (2) the robot and its peripheral elements It is assumed that such facilities are installed in the factory.

In step S<b>100 , the real environment information acquisition section 100 acquires the three-dimensional space information of the working area of the factory from the monitoring system 30 . At this time, the real environment information acquisition unit 100 may directly receive data from the monitoring system 30 online, or may read the data of the three-dimensional space information offline or indirectly.

In step S<b>101 , the virtual environment information acquisition unit 101 acquires the three-dimensional model used for the simulation from the simulator 11 .

In step S102, the comparison unit 102 performs coordinate matching between the three-dimensional space information acquired in step S100 and the three-dimensional model acquired in step S101. At this time, the comparison unit 102 preferably performs coordinate matching based on the position (more specifically, the viewpoint) of the three-dimensional sensor 31 of the monitoring system 30 . The measurement results (raw data) of the three-dimensional sensor 31 are generally expressed in a coordinate system (also called camera coordinate system) based on the position (viewpoint) of the three-dimensional sensor 31 . On the other hand, if the position of the three-dimensional sensor 31 is known, it is easy to transform the view and coordinate system of the three-dimensional model according to the viewpoint. Therefore, by performing coordinate matching based on the position of the three-dimensional sensor 31, the coordinates of the three-dimensional space and the three-dimensional model can be accurately matched with a simple process.

In step S103, the comparison unit 102 compares the 3D space information and the 3D model. The three-dimensional space information is provided by point cloud data, for example, and the three-dimensional model is provided by so-called vector data such as CAD data. Although the data formats of the two are different, if the real environment completely matches the virtual environment, in the 3D space information, point cloud clusters with the same position, shape, and size as the 3D model should be formed. be. Therefore, it is a matter of whether or not an object with substantially the same shape and size as the robot and peripheral elements placed in the virtual space during the simulation exists in the same position in the actual work area. can be compared and judged.

There are three kinds of judgment results as follows. Note that the comparison unit 102 preferably outputs the determination results of (1) to (3) below for each three-dimensional model or each point group cluster, for example.

(1) The same object as the 3D model exists in the 3D space information. In this case, it can be confirmed that the real environment matches the virtual environment.

(2) The same object as the 3D model does not exist in the 3D space information. In this case, the object that existed during the simulation does not exist in the real environment. If the object in question is a facility for safety measures such as a fence or guard plate, this judgment result becomes a critical problem.

(3) The 3D space information includes an object that does not exist in the 3D model. In this case, objects that were not assumed in the simulation exist in the real environment. For example, if the shape of the robot itself is different, or if an object protrudes from the robot's flow line, there is a risk of unintended interference (collision), so this judgment result is also a critical issue. there is a possibility.

In step S<b>104 , the output unit 103 outputs the comparison result and determination result from the comparison unit 102 . The user can see the output contents of the output unit 103 to determine whether there is a difference between the real environment and the virtual environment, and if there is a difference, whether it is a critical problem. Then, if necessary, improvements can be made, such as supplementing safety measures that were lacking in the real environment or eliminating objects that may interfere.

<Result output example>
FIG. 4 shows an example of a simulation (virtual environment) and a work area (actual environment) in a factory. In the virtual environment, a robot 21v and a workpiece 41v are placed on a workbench 40v, and a safety fence 44v is provided on the left side of the workbench 40v. Reference numeral 31v indicates a three-dimensional sensor. On the other hand, in the real environment, the robot 21 and the workpiece 41 are placed on the workbench 40, which is the same as in the virtual environment. However, it is different from the virtual environment in that the tool 42 is arranged in front of the robot 21 and the safety fence is not provided on the left side of the workbench 40 .

FIG. 5 is an example of a comparison screen displayed on the display device 12. As shown in FIG. The left side of the screen is the display of simulation data (three-dimensional model), and the right side is the display of sensor data (three-dimensional spatial information). By displaying the two types of data in views with the same viewpoint, it is possible to easily and visually confirm the match/difference between the virtual space of the simulation and the actual work area.

In the simulation data screen, the portion of the safety fence 44v is highlighted. This is the difference corresponding to the determination result (2). On the other hand, in the sensor data screen, the part of the tool 42 is highlighted. This is the difference corresponding to the determination result (3). In this way, by displaying the different part in a manner that can be distinguished from other parts, it is possible to easily and intuitively grasp the difference between the shape/arrangement assumed in the simulation and the actual shape/arrangement. can be done.

FIG. 6 is another example of a comparison screen. Although the three-dimensional model and the three-dimensional space information are displayed side by side on the comparison screen of FIG. 5, the three-dimensional model and the three-dimensional space information are displayed superimposed on the comparison screen of FIG. Such a display makes it easier to compare the shape/arrangement assumed in the simulation with the actual shape/arrangement. In addition, on the comparison screen of FIG. 6, the difference portion (first difference portion) corresponding to the determination result (2) and the difference portion (second difference portion) corresponding to the determination result (3) are displayed in different manners. it's shown. Since the response to be taken may differ between determination result (2) and determination result (3), if both are notified separately in this way, convenience for the user is improved.

<Updating simulation data>
When determination result (3) is obtained, the simulation data updating unit 104 may update the three-dimensional model in accordance with the three-dimensional space information (sensor data). This update process is executed after step S103 in FIG. 3, for example.

In the case of the examples shown in FIGS. 5 and 6, the simulation data updating unit 104 may generate a three-dimensional model corresponding to the tool 42 existing in the real environment and add it to the simulation data. Then, the simulator 11 can check whether or not the robot 21 and the tool 42 will interfere by performing a re-simulation using the updated simulation data.

<Correction of 3D spatial information>
Since the three-dimensional spatial information is generated from the measurement results of the three-dimensional sensor 31, it inevitably contains measurement errors. In addition, measurement results cannot be obtained for an object that exists outside the field of view of the three-dimensional sensor 31 or in a blind spot. Therefore, error data and missing data of the three-dimensional spatial information may be manually corrected before the comparison process (step S102 in FIG. 3). This makes it possible to improve the accuracy and reliability of the comparison processing in step S102.

FIG. 7 is an example of a user interface for correcting three-dimensional spatial information provided by the comparison unit 102. As shown in FIG. Three-dimensional space information (point cloud data) and a three-dimensional model (broken line) are superimposed on the screen. When the user operates the mouse pointer to select the area and press the "Delete" button,
The point cloud within the region is deleted. Also, when a region is selected and the "Add" button is pressed, point clouds within the region are interpolated. By performing such manual correction, well-ordered three-dimensional spatial information as shown in the lower part of FIG. 7 can be obtained.

<Modification>
The above-described embodiment is merely an example of the configuration of the present invention. The present invention is not limited to the specific forms described above, and various modifications are possible within the technical scope of the present invention. For example, the comparison screens and highlighting shown in FIGS. 5 and 6 are merely examples, and any form of display may be used as long as the purpose can be achieved. Moreover, in the above embodiment, the safety verification device and the simulator are provided in the same system, but the safety verification device and the simulator may be separate devices. Alternatively, the safety verifier and monitoring system may be provided within the same system.

<Appendix>
[1] real environment information acquisition means (10) for acquiring three-dimensional space information representing the work area of the robot (21);
virtual environment information acquisition means for acquiring three-dimensional models (21v, 40v, 41v, 44v) of a virtual space in which the robot and its peripheral elements are arranged;
The robot (21) or the robot (21) or the comparison means (102) for comparing configurations of at least one of the peripheral elements (40, 41, 42);
output means (103) for outputting a comparison result by the comparison means (102);
A safety verification device (10), characterized in that it comprises:

[2] a step of acquiring three-dimensional space information representing the work area of the robot (S100);
obtaining a three-dimensional model of a virtual space in which the robot and its peripheral elements are arranged (S101);
Using the acquired three-dimensional model and the three-dimensional space information of the work area, the configurations of at least one of the robot and the peripheral elements are compared between the virtual space of the simulation and the actual work area. a step (S102);
a step of outputting the result of the comparing step (S103);
A safety verification method characterized by having

[3] real environment information acquisition means (100) for acquiring three-dimensional space information of the work area obtained by measuring the work area of the robot (21) with a three-dimensional sensor (31);
From a simulator (11) that places three-dimensional models (21v, 40v, 41v, 44v) of the robot and its peripheral elements in a virtual space and simulates the motion of the robot (21v) in the virtual space, to the simulation virtual environment information acquisition means (101) for acquiring the three-dimensional models (21v, 40v, 41v, 44v) to be used;
The acquired three-dimensional model (21v, 40v, 41v, 44v) is compared with the three-dimensional space information of the work area, and between the virtual space of the simulation and the actual work area, the robot (21) and/or or comparing means (102) for determining whether or not configurations of the peripheral elements (40, 41, 42) are different;
output means (103) for outputting a notification when there is a difference in configuration of the robot and/or the peripheral elements between the virtual space of the simulation and the actual work area;
A safety verification device (10), characterized in that it comprises:

[4] acquiring three-dimensional spatial information of the work area obtained by measuring the work area of the robot with a three-dimensional sensor (S100);
a step of arranging a three-dimensional model of the robot and its peripheral elements in a virtual space and obtaining a three-dimensional model used for the simulation from a simulator that simulates the motion of the robot in the virtual space (S101);
Comparing the acquired three-dimensional model with the three-dimensional space information of the work area to determine whether or not there is a difference in configuration of the robot and/or the peripheral elements between the virtual space of the simulation and the actual work area. a determining step (S102);
outputting a notification when there is a difference in configuration of the robot and/or the peripheral elements between the virtual space of the simulation and the actual work area (S103);
A safety verification method characterized by having

1: Simulation system 10: Safety verification device 11: Simulator 12: Display device 13: Input device 20: Robot controller 21: Robot 21v: 3D model of robot 30: Monitoring system 31: 3D sensor 31v: 3 of 3D sensors Dimensional model 40: workbench 40v: three-dimensional model of workbench 41: workpiece 41v: three-dimensional model of workpiece 42: tool 44v: three-dimensional model of safety fence

Claims (11)

real environment information acquisition means for acquiring three-dimensional space information representing the work area of the robot;
virtual environment information acquisition means for acquiring a three-dimensional model of a virtual space in which the robot and its peripheral elements are arranged;
Using the acquired three-dimensional model and the three-dimensional space information of the work area, the configurations of at least one of the robot and the peripheral elements are compared between the virtual space of the simulation and the actual work area. a means of comparison;
an output means for outputting a comparison result by the comparison means;
A safety verification device comprising: 2. The safety verification apparatus according to claim 1, wherein said output means outputs a comparison screen between said three-dimensional model and said three-dimensional space information of said work area to a display device. 3. The safety verification apparatus according to claim 2, wherein the output means superimposes the three-dimensional model and the three-dimensional space information on the comparison screen. 4. The output means outputs the difference portion between the three-dimensional model and the three-dimensional space information on the comparison screen in a manner distinguishable from other portions. The safety verification device described in . The output means provides, on the comparison screen, a first difference portion that exists in the three-dimensional model but does not exist in the three-dimensional space information, and a first difference portion that does not exist in the three-dimensional model but does not exist in the three-dimensional space. 5. The safety verification device according to any one of claims 2 to 4, wherein the existing second different part is output in different modes. 6. The method according to any one of claims 1 to 5, further comprising updating means for updating said three-dimensional model according to said three-dimensional space information in order to perform a simulation reflecting an actual work area. Safety verification device as described. a monitoring system having three-dimensional sensors is installed to monitor the work area of the robot;
7. The safety verification apparatus according to claim 1, wherein said real environment information acquisition means acquires three-dimensional space information of said work area from said monitoring system. 8. The method according to claim 7, wherein the comparison means performs coordinate matching between the three-dimensional model and the three-dimensional space information of the work area, using the position of the three-dimensional sensor of the monitoring system as a reference. Safety verification device as described. 9. Any one of claims 1 to 8, wherein said comparison means has a user interface for correcting said three-dimensional space information of said work area prior to comparison with said three-dimensional model. The safety verification device described in paragraph. obtaining three-dimensional spatial information representing the work area of the robot;
obtaining a three-dimensional model of a virtual space in which the robot and its peripheral elements are arranged;
Using the acquired three-dimensional model and the three-dimensional space information of the work area, the configurations of at least one of the robot and the peripheral elements are compared between the virtual space of the simulation and the actual work area. a step;
outputting the result of the comparing step;
A safety verification method characterized by having A program for causing a computer to execute each step of the safety verification method according to claim 10.

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