KR20180061636A - Safety sensor system and method for robots - Google Patents
Safety sensor system and method for robots Download PDFInfo
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- KR20180061636A KR20180061636A KR1020160161021A KR20160161021A KR20180061636A KR 20180061636 A KR20180061636 A KR 20180061636A KR 1020160161021 A KR1020160161021 A KR 1020160161021A KR 20160161021 A KR20160161021 A KR 20160161021A KR 20180061636 A KR20180061636 A KR 20180061636A
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- robot
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- safety
- robots
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
Abstract
Description
본 발명은 다관절 로봇의 설치지역에 대한 인사 사고를 예방하기 위한 안전 센서에 관한 것이다. 산업용 로봇의 안전센서에 관한 것으로 작업자가 로봇 동작 반경내에 접근하는 것을 카메라로 감시하여 로봇 동작이 멈추도록 하는 센서로써, 안전사고를 예방하기 위한 로봇용 센서에 관한 것이다. BACKGROUND OF THE
일반적으로 다관절 로봇은 프로그래밍에 의하여 동일한 작업을 반복적으로 수행하는 것을 목적으로 한다. 이러한 다관절 로봇이 동일한 작업을 반복적으로 수행하는 동안에도 숙련된 작업자일지라도 한 순간의 실수로 안전사고가 발생할 수 있다. 따라서, 안전수단이 갖춰있지 않은 산업용 로봇을 다루는 경우에는 언제라도 안전 사고에 노출되어 있으며, 로봇에 의한 안전사고가 종종 당하게 되었다. Generally, a multi-joint robot aims at repetitively performing the same operation by programming. While these articulated robots are repeatedly performing the same task, even a skilled worker can cause a safety accident with a momentary mistake. Therefore, when dealing with industrial robots that do not have safety measures, they are exposed to safety accidents at any time and safety accidents caused by robots are often encountered.
본 발명은 상기와 같은 문제점을 해결하기 위한 고안된 것으로 , 본 발명의 목적은 적어도 하나 이상의 카메라 모듈을 이용하여 독립적으로 혹은 연동적으로 다관절 로봇의 주변에 설치하여 이미 프로그래밍되어 있는 로봇 반경을 계산하여, 로봇 반경내에 작업자가 진입하는 것만으로 로봇이 멈추도록 설계하여 작엊 S의 안전을 도모하기 윈한 안전 사고 예방을 위한 다관절 로봇용 센서를 제공하는 데 있다. SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to provide a method and apparatus for controlling a robot by independently or interlockingly using at least one camera module, And to provide a sensor for a jointed-arm robot for preventing safety accidents by designing the robot to stop only when a worker enters the robot within the radius.
상기와 같은 본 발명의 목적은 적어도 하나 이상의 카메라 모듈을 갖고 구현된다. 다관절 로봇의 동작 반경이 내장되어 있는 카메라 센서, 카메라 센서의 위치를 알 수 있는 위치 센서, 위치 센서와의 거리를 측정 할수 있도록 해주는 로봇의 암에 부착되는 로봇 위치 센서로 구성되어 다관절 로봇의 동작 반경을 적용하여 3차원의 행동을 2차원 카메라 이미지에 매칭하는 알고리즘이 적용되어 안전 사고 예방을 위한 다관절 로봇용 스마트 센서에 의해 달성된다.The above object of the present invention is realized with at least one camera module. This system consists of a camera sensor with a built-in operating radius of the articulated robot, a position sensor for detecting the position of the camera sensor, and a robot position sensor attached to the arm for measuring the distance to the position sensor. An algorithm is applied to match three - dimensional behavior to a two - dimensional camera image by applying motion radius, which is achieved by a smart sensor for a multi - joint robot to prevent safety accidents.
이상과 같은 본 발명에 의하면 사람과 로봇의 충돌을 감지하는 센서는 그 한계성이 있어 미리 예측하고 로봇의 충돌을 피하도록 하는 것이 가장 이상 적이다. 따라서, 로봇의 동작 반경이 입력된 시스템으로 카메라에 촬영되는 인체를 인식함으로써, 사람이 로봇 동작 반경에 접근할때 미리 로봇이 정지할 수 있도록 하는 효과가 있다. According to the present invention as described above, it is most preferable that the sensor for detecting a collision between a robot and a human being has a limitation, so as to predict in advance and avoid collision of the robot. Accordingly, there is an effect that the robot can stop before the robot approaches the robot operating radius by recognizing the human body to be photographed by the camera with the inputted operation radius of the robot.
도 1은 카메라 모듈의 본 발명의 일 실시예에 따른 다관절 로봇용 스마트 안전 센서의 구성도 이다.1 is a block diagram of a smart safety sensor for a multi-joint robot according to an embodiment of the present invention.
그러면, 첨부한 도면을 참고로 하여 본 발명의 실시 예에 대하여 본 발명이 속하는 기술 분야에 통상의 지식을 가진 자가 용이하게 실시 할 수 있도록 상세히 설명한다. Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention.
1 : 보호용 케이스1: Protective case
Claims (1)
A safety sensor to which a human recognition algorithm is applied by using a camera, an image processing board for recognizing a human approach within a robot operation radius based on the photographed image
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020160161021A KR20180061636A (en) | 2016-11-30 | 2016-11-30 | Safety sensor system and method for robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020160161021A KR20180061636A (en) | 2016-11-30 | 2016-11-30 | Safety sensor system and method for robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| KR20180061636A true KR20180061636A (en) | 2018-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| KR1020160161021A KR20180061636A (en) | 2016-11-30 | 2016-11-30 | Safety sensor system and method for robots |
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| KR (1) | KR20180061636A (en) |
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2016
- 2016-11-30 KR KR1020160161021A patent/KR20180061636A/en unknown
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