KR20230075241A - A manufacturing system based on a virtual process model of a gantry-type operator-robot collaboration system and a method for updating robot control data using the same - Google Patents

Abstract

One embodiment of the present invention provides a technology that uses big data technology and virtual process model technology to perform real-time updates of control data for a robot that collaborates with a worker. One embodiment of the present invention includes: a collaboration device that generates sensing information about a robot and a worker performing collaboration in a given manufacturing process; a process data collection device that collects process data, which is data generated from the collaboration device; a data conversion device that communicates with the process data collection device and includes an agent that converts the process data into standard data; a big data device that stores and processes the standard data received from the data conversion device through a communication network; and a data processing device that receives the standard data from the big data device and the process data from a specific collaboration device and analyzes the data to generate analysis data.

Description

Manufacturing system based on a virtual process model of a gantry-type operator-robot cooperative work device and method for updating robot control data using the same DATA USING THE SAME}

The present invention relates to a manufacturing system based on a virtual process model of a gantry-type worker-robot cooperative work device and a method for updating robot control data using the same, and more particularly, by using big data technology and virtual process model technology, to cooperate with workers It relates to a technology that enables real-time updating of control data for robots performing tasks.

In general, industrial robots are mostly used for handling heavy loads and use high-output actuators. Among them, because the collaborative robot works close to the operator, regulations on the safety of the operator are required. Accordingly, ISO 10218 has regulations on the safety of robots. The ISO 10218 is currently being revised, and new regulations have been established for cooperative work between robots and humans, and multi-robot cooperative work.

However, in the field where the process is performed in cooperation with the robot as described above, basic measures such as safety helmets, safety handrails, safety belts and emergency control functions, and fall protection nets were used as measures to prevent industrial accidents, but in actual industrial sites However, structural changes occur frequently, and there are limitations to active safety management and prompt introduction/installation of safety facilities as field work managers concurrently take on safety management and process efficiency management.

In addition, as an industrial accident prevention technology related to existing collaborative robots, an ultrasonic sensor installed on the robot grasps the approach distance of a person and changes the motion speed critical motion speed. In the case of approaching at a high speed from a certain distance, there are limitations in predicting the risk factors.

In Republic of Korea Patent Publication No. 10-2021-0105562 (Title of Invention: Work Robot Control Method and Device for Worker's Safety), extracting positional information of a worker and a work robot through a depth image; Analyzing a dangerous situation of the worker based on positional information of the worker and the robot; and controlling at least one of a work schedule and an operation of the work robot based on the dangerous situation. A work robot control method for the safety of a worker including a is disclosed.

Republic of Korea Patent Publication No. 10-2021-0105562

An object of the present invention to solve the above problems is to perform real-time updating of control data for a robot that performs a cooperative task with a worker by using big data technology and virtual process model technology.

And, an object of the present invention is to improve work and safety efficiency between a robot and a worker by real-time updating of control data for the robot as described above.

The technical problem to be achieved by the present invention is not limited to the above-mentioned technical problem, and other technical problems not mentioned can be clearly understood by those skilled in the art from the description below. There will be.

The configuration of the present invention for achieving the above object is a cooperative work device for generating sensing information for a robot and a worker performing a cooperative work in a predetermined manufacturing process; a process data collection device that collects process data, which is data generated by the cooperative work device; a data conversion device having an agent that communicates with the process data collection device and converts the process data into standard data; a big data device for storing and processing the standard data received from the data conversion device through a communication network; and a data processing device that receives the standard data from the big data device and receives and analyzes process data of a specific cooperative work device to generate analysis data.

In an embodiment of the present invention, a job control device that receives the job data from the job management device, analyzes the job data, generates robot control data, which is data used for controlling the robot, and transmits the data to the cooperative work device. may further include.

In an embodiment of the present invention, a work management device for storing work data that is data on design and work used in a process performed in the cooperative work device and transmitting the work data to the work control device; and

A simulation device that receives the robot control data from the job control device, performs a simulation on the robot control data, and transmits virtual data, which is data for a virtual process of the cooperative work device, to the work management device. can

In an embodiment of the present invention, the analysis data of the data processing device may be transmitted to the work management device and used to update the work data.

In an embodiment of the present invention, the analysis data of the data processing device may be transmitted to an external electronic device and used to update data of the electronic device.

In an embodiment of the present invention, the simulation device may perform machine learning using the robot control data during simulation.

In an embodiment of the present invention, the big data device may include: a data receiving unit receiving the standard data; and a data processing unit that stores the standard data, structured data, and unstructured data and distributes and processes each data.

In an embodiment of the present invention, the process data may include robot posture information about the posture of the robot, the sensing information, and data on a possible collision area between the robot and the operator.

In an embodiment of the present invention, the cooperative work device may include: a guide unit positioned on an xy plane; a gantry portion formed to support the guide portion; a moving unit connected to the guide unit so as to slide along the guide unit and coupled to a robot so as to face at least a portion of the guide unit; and at least two sensor units coupled to the guide unit toward a lower portion of the guide unit and detecting a robot and an operator located in a lower area of the guide unit, wherein the at least two sensor units detect the robot and the operator in real time. It is possible to detect and generate sensing information for preventing a collision between the work object and the operator.

In an embodiment of the present invention, the sensor unit may include at least one of a 3D lidar sensor and a vision sensor.

In an embodiment of the present invention, the guide unit, a first guide member located on the x-axis line is formed a first guide rail; a second guide member connected perpendicularly to the first guide member, positioned on the y-axis, and forming a second guide rail; and a third guide member connected perpendicularly to the second guide member, positioned on an x-axis line parallel to the first guide member, and having a third guide rail formed thereon.

The configuration of the present invention for achieving the above object is a first step of transmitting and collecting the process data generated in the cooperative work device to the process data collection device; a second step of the data conversion device communicating with the process data collection device and converting the process data into standard data; A third step of storing and processing the standard data received from the data conversion device through a communication network in the big data device; a fourth step in which the data processing device receives the standard data from the big data device and receives and analyzes process data of a specific cooperative work device to generate analysis data; and a fifth step in which the analysis data of the data processing device is transmitted to the work management device and used to update the work data, and the robot control data is generated in the work control device using the updated work data. include

The effect of the present invention according to the configuration as described above is that the data generated in the field is converted into big data in real time, and the update of the field data is performed in real time using such big data, thereby improving process and safety efficiency. that it can

In addition, the effect of the present invention, in addition to the formation of big data, creates a virtual process model for each unit-specific work robot and uses it to update work data, thereby improving process and safety efficiency and at the same time unit It means that control data suitable for each robot can be created.

The effects of the present invention are not limited to the above effects, and should be understood to include all effects that can be inferred from the detailed description of the present invention or the configuration of the invention described in the claims.

1 is a schematic diagram of the configuration of a manufacturing system according to an embodiment of the present invention.
2 is a schematic diagram of some configurations of a manufacturing system according to an embodiment of the present invention.
3 is a schematic diagram of a configuration of a cooperative work device according to an embodiment of the present invention.
4 is a perspective view of a cooperative work device according to an embodiment of the present invention.
5 is a schematic view of the operation of a cooperative work device according to an embodiment of the present invention.
6 is a schematic diagram showing a possible collision area derived based on sensing information and robot posture information in an information processing unit provided in a cooperative work device according to an embodiment of the present invention.
7 is a perspective view showing a cooperative work device, a worker, and a collisionable area according to an embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention can be implemented in many different forms, and therefore is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, combined)" with another part, this is not only "directly connected", but also "indirectly connected" with another member in between. "Including cases where In addition, when a part "includes" a certain component, it means that it may further include other components without excluding other components unless otherwise stated.

Terms used in this specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "include" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic diagram of a configuration of a manufacturing system according to an embodiment of the present invention, and FIG. 2 is a schematic diagram of some configurations of a manufacturing system according to an embodiment of the present invention.

As shown in FIGS. 1 and 2, the manufacturing system of the present invention includes a robot 200 that performs a cooperative operation in a predetermined manufacturing process and a cooperative work device 100 that generates sensing information for a worker; a process data collection device 310 that collects process data, which is data generated from the cooperative work device 100; A data conversion device 320 having an agent that communicates with the process data collection device 310 and converts process data into standard data; A big data device 330 that stores and processes standard data received from the data conversion device 320 through the communication network 350; and a data processing device 340 that receives standard data from the big data device 330 and receives and analyzes process data of a specific cooperative work device 100 to generate analysis data.

As shown in FIG. 1, a plurality of cooperative work devices 100 may be formed, a plurality of process data collection devices 310 may be formed correspondingly, and a plurality of data conversion devices 320 may be formed. can be formed In addition, one cooperative work device 100 transmits process data to one process data collection device 310, and one process data collection device 310 processes data collected by one data conversion device 320. can send However, it is not limited thereto, and various communication connections may be performed.

In the cooperative work device 100, the robot 200 and the operator perform cooperative work, and thus, the process data generated by the cooperative work device 100 includes robot posture information and detection of the posture of the robot 200. Information and data on a possible collision area between the robot 200 and the operator may be included. Generation of such process data will be described in detail in the description of the cooperative work device 100 below.

The data converter 320 converts the process data as described above into standard data, and at the same time tracks the work place where the cooperative work device 100 is located, the working time, etc., so that the cooperative work device 100 can perform the work. A variety of information may be included to track a factory or workshop in the factory, a process type, and a robot 200 type. Then, the data converter 320 may transmit standard data including the above information to the communication network 350.

The big data device 330 includes a data receiver for receiving standard data; and a data processing unit 331 that stores standard data, structured data, and unstructured data and distributes and processes each data.

The data receiving unit of the big data device 330 can receive standard data in real time from a plurality of data conversion devices 320 using the communication network 350 as described above, and the received standard data is transferred to the standard data extraction unit. After the standard data extraction unit extracts structured and unstructured data and standard data, the data extracted in this way is transmitted to the data processing unit and stored, and then the data processing unit reads the work data into the distributed file system to perform a search. can

As shown in FIG. 2, the manufacturing system of the present invention receives work data from the work management device 410, analyzes the work data, generates robot control data, which is data used for controlling the robot 200, and performs cooperative work. A job control device 420 that transmits to the device 100 may be further included.

In addition, the manufacturing system of the present invention is a work management device that stores work data, which is data on design and work used in the process performed by the cooperative work device 100, and transmits the work data to the work control device 420 ( 410); and simulation for receiving robot control data from the job control device 420, performing simulation on the robot control data, and transmitting virtual data, which is data for a virtual process of the cooperative work device 100, to the work management device 410. Device 430 may be further included.

Manpower such as workers and other experts may input data related to process analysis or safety diagnosis into the work management device 410, and other process-related data periodically updated from the outside are transmitted to the work management device 410. It can be.

In addition, design data generated by a design program of another device may also be transmitted to the work management device 410, and thus work data may be generated. Such work data may include worker information, robot information, space or work-related data of the cooperative work device 100, information on manufactured products, and the like.

The work data is transmitted to the job control device 420, and the work control device 420 can generate robot control data suitable for the work robot, which is the robot 200 connected to the cooperative work device 100, using the work data. .

Specifically, the job control device 420 compares the robot 200 information of the work data and the information of the work robot, selects data suitable for the work robot from the work data, and uses this to obtain robot control data for the work robot. It can be created and transmitted to the cooperative work device 100.

The simulation device 430 may perform machine learning using robot control data during simulation. Here, learning data for the working robot and the cooperative work device 100 using robot control data may be generated using a machine learning (artificial neural network) model.

In addition, the simulation device can perform a simulation of a virtual process model for a work robot and a worker using such learning data, and through this, it is possible to generate virtual data for a virtual process and convert the virtual data to a work management device. (410).

The analysis data of the data processing device 340 may be transmitted to the work management device 410 and used to update work data. That is, the data processing device 340 may transmit work data to the work management device 410 included in the manufacturing system of the present invention.

In this case, the analysis data generated by big data analysis can be used in one cooperative work device 100 belonging to the manufacturing system of the present invention, and the other cooperative work device 100 as described above can be used. Analysis data by data processing of the device 100 can be used immediately, so the work data update efficiency for one cooperative work device 100 can be increased.

In addition, the analysis data of the data processing device 340 may be transmitted to an external electronic device and used for data update of the electronic device. In this case, the analysis data is used in a device that is connected to an external electronic device and performs a cooperative task using the robot 200, and by using the analysis data to provide a solution to the outside, analysis An effect of expanding the application range of data can be implemented.

In the case of using the manufacturing system of the present invention as described above, the data generated in the field is converted into big data in real time, and the data in the field is updated in real time using such big data, thereby improving process and safety efficiency. can

In addition, in addition to the formation of big data, a virtual process model for each unit of work robot is created and work data is updated using it, thereby improving process and safety efficiency and controlling suitable for each unit of work robot. data can be generated.

Hereinafter, the configuration of the cooperative work device will be described in detail.

3 is a schematic diagram of a configuration of a cooperative work device according to an embodiment of the present invention, FIG. 4 is a perspective view of a cooperative work device according to an embodiment of the present invention, and FIG. 5 is a view according to an embodiment of the present invention. It is a schematic diagram of the operation of the cooperative work device.

And, FIG. 6 is a schematic diagram showing a possible collision area derived from the information processing unit provided in the cooperative work device according to an embodiment of the present invention based on detection information and robot posture information, and FIG. 7 is an embodiment of the present invention. It is a perspective view showing a cooperative work device, a worker, and a possible collision area according to.

As shown in Figures 3 to 5, the cooperative work device, the guide unit 110 located on the xy plane; a gantry unit 120 formed to support the guide unit; A moving unit 130 connected to the guide unit 110 so as to slide along the guide unit 110 and coupled to a robot so as to face the ground at least in part; and at least two sensor units 140 coupled to the guide unit 110 toward the lower portion of the guide unit 110 and detecting the robot 200 and the operator 20 located in the lower area of the guide unit 110. can include Here, the at least two sensor units 140 may sense the robot 200 and the worker 20 in real time to generate sensing information for preventing a work object from colliding with the worker 20 .

The guide unit 110 may be located on an xy plane spaced a predetermined distance from the ground. The guide unit 110 may include a first guide member 111 , a second guide member 112 , and a third guide member 113 .

As shown in FIG. 4 , the first guide member 111 may be a frame located on the x-axis and forming a first guide rail. The first guide rail is formed on one side of the first guide member 111 facing the third guide member 113, and one side of the second guide member 112 may be connected to the first guide rail.

The second guide member 112 is connected to the first guide member 111 so as to be perpendicular to the y-axis, and is a frame in which a second guide rail is formed. The second guide rail is formed on one side of the second guide member 112, and a y-axis moving member 132 to be described later may be connected to the second guide rail.

In addition, the second guide member 112 may be vertically connected to the third guide member 111 . Specifically, one side of the second guide member 112 may be connected to a first guide rail and the other side of the second guide member 112 may be connected to a third guide rail to be described later. The second guide member 112 having the above structure may slide in the x-axis direction along the first and third guide rails by the x-axis moving member 131 to be described later.

The third guide member 113 is connected vertically to the second guide member 112 and is positioned on the x-axis so as to be parallel to the first guide member 111 and is a frame in which a third guide rail is formed. The other side of the second guide member 112 may be connected to the third guide rail.

The gantry unit 120 is formed to support the guide unit 110 . The aforementioned gantry unit 120 may include a first gantry 121 , a second gantry 122 , a third gantry 123 , and a fourth gantry 124 .

The first gantry 121 extends downward from one side of the first guide member 111 and may support the first guide member 111 while being in contact with the ground. The first gantry 121 for this purpose is made of a material with high rigidity to withstand the load of the first guide member 111, and may be an H-beam, but is not limited thereto.

The second gantry 122 is formed to extend downward from the other side of the first guide member 111 while facing the first gantry 121, and the first guide member (with the first gantry 121) while in contact with the ground 111) can be supported. The second gantry 122 for this purpose is made of a material with high rigidity to withstand the load of the first guide member 111, and may be an H-beam as an example, but is not limited thereto.

The third gantry 123 faces the first gantry 121 and extends downward from one side of the third guide member 113, and may support the third guide member 113 while being in contact with the ground. The second gantry 122 for this purpose is made of a material with high rigidity to withstand the load of the first guide member 111, and may be an H-beam as an example, but is not limited thereto.

The fourth gantry 124 is formed to extend downward from the other side of the third guide member 113 while facing the second gantry 122, and while in contact with the ground, the third guide member ( 113) can be supported. The second gantry 122 for this purpose is made of a material with high rigidity to withstand the load of the first guide member 111, and may be an H-beam as an example, but is not limited thereto.

As the above-described first to fourth gantries 121 , 122 , 123 , and 14 have the same height, they can firmly support the guide unit 110 by coming into close contact with the ground.

As shown in FIG. 5 , the moving unit 130 is connected to the guide unit 110 so as to slide along the guide unit 110, and the robot 200 is coupled to at least a part of the moving unit 130 so as to face the ground. The moving unit 130 may include an x-axis moving member 131 , a y-axis moving member 132 and a z-axis moving member 133 .

The x-axis moving member 131 may be connected to the third guide member 113 and coupled to the second guide member 113 . Illustratively, the x-axis moving member 131 may be a linear motor supporting linear reciprocating motion. The x-axis moving member 131 may move the second guide member 112 in the x-axis while sliding on the third guide member 113 and moving in the x-axis direction.

The y-axis moving member 132 is connected to an auxiliary guide member coupled to the second guide member and can move along the auxiliary guide member. In addition, the y-axis moving member 132 may be coupled to the z-axis moving member 133 . Illustratively, the y-axis moving member 132 may be a linear motor supporting linear reciprocating motion. The y-axis moving member 132 having the above structure may move the z-axis moving member 133 in the y-axis direction while sliding in the y-axis direction along the auxiliary guide member.

As the z-axis moving member 133 is coupled to the y-axis moving member 132, when the y-axis moving member 132 slides in the y-axis direction, it can be moved in the y-axis direction together. In addition, the robot 200 is coupled to the lower end of the z-axis moving member 133 . Illustratively, the z-axis moving member 133 may be a linear motor supporting linear reciprocating motion. The z-axis moving member 133 having the above structure may move the robot 200 in the z-axis direction.

The moving unit 130 as described above may support the robot 200 to smoothly process the work object 10 when processing it.

The sensor unit 140 is coupled with the guide unit 110 toward the lower portion of the guide unit 110 to detect the robot 200 and the operator 20 located in the lower area of the guide unit 110, and for this The sensor unit may include at least two sensor units 141 , 142 , 143 , and 144 .

The at least two sensor units 141, 142, 143, and 144 detect the robot 200 and the operator 20 in real time to generate sensing information for preventing the work object 10 and the operator 20 from colliding. can do.

Specifically, the at least two sensor units 141, 142, 143, and 144 are coupled to one side of the first guide member 111 as shown in FIGS. 4 and 5. The first sensor unit 141 , The second sensor unit 142 coupled to the other side of the first guide member 141, the third sensor unit coupled to one side of the third guide member 113 to face the first sensor unit 141 ( 143) and a fourth sensor unit 144 coupled to the other side of the third guide member 113 to face the second sensor unit 142.

Here, the sensor unit 140 may be a non-contact sensor. Specifically, the sensor unit 140 may include at least one of a 3D lidar sensor and a vision sensor. The sensor unit 140 may include a first sensor unit 141 , a second sensor unit 142 , and a third sensor unit 143 .

The first sensor unit 141 may be coupled to one side of the first guide member 111 and may be disposed toward a lower portion of the fourth gantry 124 . The second sensor unit 142 may be coupled to the other side of the first guide member 141 and may be disposed toward a lower portion of the third gantry 123 . The third sensor unit 143 may be coupled to one side of the third guide member 113 to face the first sensor unit 141 and may be disposed toward a lower portion of the second gantry 122 . Also, the fourth sensor unit 144 may be coupled to the other side of the third guide member 113 to face the second sensor unit 142 and may be disposed to face the lower portion of the first gantry 121 .

As the above-described first to fourth sensor units 141, 142, 143, and 144 are disposed diagonally downward at the mounting position, the work object 10 located in the lower region of the guide unit 110, the operator ( 20) and the robot 200 can be sensed in real time.

The database unit 150 may transmit to the information processing unit 160 after receiving the robot posture information and sensing information about the robot 200 transmitted from the robot 200 . In addition, the information processing unit 160 may derive a possible collision area in real time based on the sensing information and the robot attitude information transmitted from the database unit 150 . Here, the robot posture information includes joint angle information, joint rotation speed information, and location information (x-axis, y-axis, z-axis) of the robot 200 .

In addition, as shown in FIGS. 6 and 7, the collision potential area is the emergency stop area (S1), deceleration operation area (S2) and normal operation It may be an area divided into area S3. At this time, as the robot 200 moves in real time in the x-axis direction, the y-axis direction, and the z-axis direction, the collision possible area is continuously changed, of course.

Specifically, the emergency stop area S1 is an area surrounding the robot 200, the deceleration operation area S2 is an area surrounding the emergency stop area S1, and the normal operation area S3 is a deceleration operation area ( It may be a region surrounding S2).

That is, the shorter the distance to the robot 200, the higher the possibility of collision between the robot 200 and the worker 20, so the collision possible areas are the emergency stop area S1, the deceleration operation area S2, and the normal operation area ( It can be partitioned in the order of S3).

The information processing unit 160 determines in which area the operator 20 is located by matching the detected information about the operator 20 to the emergency stop area S1, the deceleration operation area S2, and the normal operation area S3. can

Specifically, the information processing unit 160 may generate an emergency stop signal and transmit it to the control unit 170 when the operator 20 is located in the emergency stop area S1. Meanwhile, when the operator 20 is located in the deceleration operation region S2, the information processing unit 160 may generate a deceleration operation signal and transmit it to the control unit 170. On the other hand, the information processing unit 160 may generate a normal operation signal and transmit it to the control unit 170 when the operator 20 is located in the normal operation area S3.

The control unit 170 may control the operation of the robot 200 and the moving unit 130 according to the collision possible area transmitted from the information processing unit 160 . Specifically, the control unit 170 receives the emergency stop signal transmitted from the information processing unit 160 when the operator 20 is located in the emergency stop area S1, and the control unit 170 responds to the emergency stop signal accordingly. Accordingly, the operation of the robot 200 and the moving unit 130 is controlled to stop. At this time, the condition for emergency stop of the operation of the robot 200 and the moving unit 130 complies with ISO 13482.

Meanwhile, when the operator 20 is located in the deceleration operation region S2, the control unit 170 receives the deceleration operation signal transmitted from the information processing unit 160, and the control unit 170 responds to the deceleration operation signal. The robot 200 and the moving unit 130 may be controlled to operate by decelerating.

On the other hand, the control unit 170 receives the normal operation signal transmitted from the information processing unit 160 when the operator 20 is located in the normal operation area S3, and the control unit 170 receives the normal operation signal accordingly. It can be controlled to maintain the current state by transmitting to the robot 200 and the moving unit 130.

The robot 200 may be coupled to the lower end of the z-axis moving member 133 to perform processes such as processing, combining, and bonding the work object 10 . In addition, the robot 200 may process the workpiece 10 while moving along the guide unit 110 moving in the x-axis direction, the y-axis direction, and the z-axis direction by the moving unit 130 .

As shown in FIGS. 4, 5 and 7, the robot 200 for this purpose includes three robot arms, a processing unit, a joint connecting the three robot arms and the processing unit, and robot posture information detected by the robot arm and the joint. It may include a robot posture sensor unit (not shown) that generates and a communication unit (not shown) that transmits robot posture information to the database unit 150 .

Hereinafter, the control method of the present invention using the cooperative work device of the present invention will be described.

In the control method of the present invention, at least two sensor units 141, 142, 143, and 144 generate sensing information in real time by detecting at least one of a worker and an object, and the database unit 150 includes the robot 200 Step b of receiving the robot posture information transmitted from ) and the detection information transmitted from at least two sensor units 141, 142, 143, 144, the information processing unit 160 detecting information transmitted from the database unit 150, and Step c of deriving the possible collision area in real time based on the robot posture information and the control unit 170 controlling the operation of the robot 200 and the moving unit 130 according to the possible collision area transmitted from the information processing unit 160 It includes step d.

Here, the collision potential area may be an area in which the lower area of the guide unit 110 is divided into an emergency stop area (S1), a deceleration operation area (S2), and a normal operation area (S3) based on the detection information and the robot posture information. there is.

Specifically, step a is step a-1 in which power is applied to at least two sensor units 141, 142, 143, and 144, and at least two sensor units 141, 142, 143, and 144 are connected to the work object 10 Step a-2 of generating sensing information by detecting the operator 20 and the robot 200, and transmitting the sensing information to the database unit 150 by at least two sensor units 141, 142, 143, and 144 Step a-3 is included.

Next, step b is step b-1 in which the database unit 150 receives the robot posture information transmitted from the robot 200, and step b in which the database unit 150 receives sensing information transmitted from at least two sensor units. Step -2 and step b-3 in which the database unit 150 transmits the robot posture information and detection information to the information processing unit 160, wherein the robot posture information includes joint angle information and joint angle information for the robot 200 It may include rotational speed information and location information (x-axis, y-axis, z-axis).

Next, step c is step c-1 in which the information processing unit 160 receives the robot posture information and detection information transmitted from the database unit 150, and the information processing unit 160 collides based on the robot posture information and detection information. In step c-2 of deriving the possible area in real time, the information processing unit 160 matches which area of the emergency stop area (S1), deceleration operation area (S2), and normal operation area (S3) the robot 200 is located in. Step c-3 and step c-4 in which the information processing unit 160 transmits the result of matching the collisionable area and the robot to the control unit 170.

Here, the emergency stop area (S1) is an area surrounding the robot 200, the deceleration operation area (S2) is an area surrounding the emergency stop area (S1), and the normal operation area (S3) is a deceleration operation area (S2). ) may be a region surrounding.

In addition, step c-4 may include a step of generating an emergency stop signal by the information processing unit 160 and transmitting it to the control unit 170 when the operator 20 is located in the emergency stop area S1.

On the other hand, step c-4 may include a step in which the information processing unit 160 generates a deceleration operation signal and transmits it to the control unit 170 when the operator 20 is located in the deceleration operation region S2.

On the other hand, step c4 may include a step in which the information processing unit 160 generates a normal operation signal and transmits it to the control unit 170 when the operator 20 is located in the normal operation region S3.

Next, step d is step d-1 in which the control unit 170 receives the emergency stop signal transmitted from the information processing unit 160, and the control unit 170 moves the robot 200 and the moving unit 130 according to the emergency stop signal. It may include a d-2 step of controlling the operation of to stop.

Steps d-1 and d-2 are very close between the robot 200 and the worker 20, so the possibility of collision between the robot 200 and the worker 20 is very high, so the robot 200 and the moving unit 130 In addition to controlling the operation to be quickly stopped, an emergency warning signal may be transmitted to a separate notification unit (not shown) to inform the worker 20 of the risk of collision as the notification unit generates a warning sound.

Meanwhile, step d is step d-3 in which the control unit 170 receives the deceleration operation signal transmitted from the information processing unit 160 and the control unit 170 moves the robot 200 and the moving unit 130 according to the deceleration operation signal. It includes step d-4 of controlling to decelerate and operate.

Even in steps d-3 and d-4 described above, the control unit 170 transmits a warning signal to the notification unit so that the operator 20 can be notified of the risk of collision as the notification unit generates a warning sound.

On the other hand, step d is step d-5 in which the control unit 170 receives the normal operation signal transmitted from the information processing unit 160 and the control unit 170 transmits the deceleration operation signal to the robot 200 and the moving unit 130. It may include a d-6 step of controlling to maintain the current state by transmitting to.

In steps d-5 and d-6, it is determined that the possibility of collision between the robot 200 and the worker 20 is low or non-existent, so that the robot 200 can process the work object 10 according to a preset processing process. The current state can be maintained.

By the configuration as described above, it is possible to form a manufacturing process big data platform that includes the manufacturing system of the present invention and provides a site-customized solution to the outside. Here, as described above, analysis data of the data processing device 340 may be transmitted to an external electronic device and used to update data of the electronic device.

Hereinafter, a robot control data update method using the manufacturing system of the present invention will be described.

In the first step, process data generated in the cooperative work device 100 may be transmitted to and collected from the process data collection device. And, in the second step, the data conversion device may perform communication with the process data collection device and convert the process data into standard data.

Next, in the third step, the standard data received from the data conversion device through the communication network 350 may be stored and processed in the big data device. And, in the fourth step, the data processing device may generate analysis data by receiving standard data from the big data device and receiving and analyzing process data of a specific cooperative work device.

Then, in the fifth step, the analysis data of the data processing device is transmitted to the work management device and used to update the work data, and robot control data can be generated in the work control device using the updated work data.

The remaining details of the robot control data update method of the present invention are the same as those described for the manufacturing system of the present invention described above.

The above description of the present invention is for illustrative purposes, and those skilled in the art can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts should be interpreted as being included in the scope of the present invention.

10: work object 20: worker
100: cooperative work device 110: guide unit
111: first guide member 112: second guide member
113: third guide member 120: gantry unit
121: first gantry 122: second gantry
123: third gantry 124: fourth gantry
130: moving unit 131: x-axis moving member
132: y-axis moving member 133: z-axis moving member
140: sensor unit 141: first sensor unit
142: second sensor unit 143: third sensor unit
144: fourth sensor unit 150: database unit
160: information processing unit 170: control unit
200: robot 310: process data collection device
320: data converter 330: big data device
331: data processing unit 340: data processing unit
350: communication network 410: work management device
420: work control device 430: simulation device

Claims (13)

A cooperative work device that generates sensing information for a robot and an operator performing cooperative work in a predetermined manufacturing process;
a process data collection device that collects process data, which is data generated by the cooperative work device;
a data conversion device having an agent that communicates with the process data collection device and converts the process data into standard data;
a big data device for storing and processing the standard data received from the data conversion device through a communication network; and
A virtual process model of a gantry-type worker-robot cooperative work device comprising a data processing device that receives the standard data from the big data device and receives and analyzes process data of a specific cooperative work device to generate analysis data based manufacturing system.
The method of claim 1,
A gantry-type operator-robot cooperation comprising receiving work data, analyzing the work data, generating robot control data, which is data used for controlling the robot, and transmitting the data to the cooperative work device. Manufacturing system based on virtual process model of work tools.
The method of claim 2,
a work management device that stores work data, which is data on design and work used in a process performed by the cooperative work device, and transmits the work data to the work control device; and
Further comprising a simulation device for receiving the robot control data from the job control device, performing a simulation on the robot control data, and transmitting virtual data, which is data for a virtual process of the cooperative work device, to the work management device A virtual process model-based manufacturing system of a gantry-type worker-robot cooperative work device, characterized in that.
The method of claim 3,
The analysis data of the data processing device is transmitted to the work management device and used for updating the work data.
The method of claim 3,
The analysis data of the data processing device is transmitted to an external electronic device and used for updating data of the electronic device.
The method of claim 3,
The simulation device is a virtual process model-based manufacturing system of a gantry-type worker-robot cooperative work device, characterized in that performing machine learning using the robot control data when performing simulation.
The method of claim 1,
The big data device,
a data receiver for receiving the standard data; and
A virtual process model-based manufacturing system of a gantry-type worker-robot cooperative work device, characterized in that it comprises a data processing unit for storing the standard data, structured data, and unstructured data and distributively processing each data.
The method of claim 1,
The process data includes robot posture information about the posture of the robot, the detection information, and data on a possible collision area between the robot and the operator Virtual process model of a gantry-type worker-robot cooperative work device based manufacturing system.
The method of claim 1,
The cooperative work device,
a guide unit located on the xy plane;
a gantry portion formed to support the guide portion;
a moving unit connected to the guide unit so as to slide along the guide unit and coupled to a robot so as to face at least a portion of the guide unit; and
At least two sensor units coupled to the guide unit toward a lower portion of the guide unit and detecting a robot and an operator located in a lower area of the guide unit;
The at least two sensor units sense the robot and the operator in real time to generate sensing information for preventing a work object from colliding with the operator. Based on a virtual process model of a gantry-type worker-robot cooperative work device manufacturing system.
The method of claim 9,
The sensor unit comprises at least one of a 3D lidar sensor and a vision sensor.
The method of claim 9,
The guide part,
A first guide member located on the x-axis and having a first guide rail formed thereon;
a second guide member connected perpendicularly to the first guide member, positioned on the y-axis, and forming a second guide rail; and
A gantry-type operator-robot cooperative work device comprising a third guide member connected perpendicularly to the second guide member, positioned on the x-axis line parallel to the first guide member, and having a third guide rail formed therein of virtual process model-based manufacturing systems.
A manufacturing process big data platform comprising a manufacturing system based on a virtual process model of a gantry-type worker-robot cooperative work device according to any one of claims 1 to 11 and providing a site-customized solution to the outside .
In the robot control data update method using the manufacturing system based on the virtual process model of the gantry-type worker-robot cooperative apparatus of claim 3,
a first step of transmitting and collecting the process data generated by the cooperative work device to the process data collection device;
a second step of the data conversion device communicating with the process data collection device and converting the process data into standard data;
A third step of storing and processing the standard data received from the data conversion device through a communication network in the big data device;
a fourth step in which the data processing device receives the standard data from the big data device and receives and analyzes process data of a specific cooperative work device to generate analysis data; and
A fifth step of transmitting the analysis data of the data processing device to the work management device and using the updated work data to generate the robot control data in the work control device using the updated work data. Robot control data update method, characterized in that for.

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