TWI729168B - Method for setting work area of robot - Google Patents

Method for setting work area of robot Download PDF

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TWI729168B
TWI729168B TW106123734A TW106123734A TWI729168B TW I729168 B TWI729168 B TW I729168B TW 106123734 A TW106123734 A TW 106123734A TW 106123734 A TW106123734 A TW 106123734A TW I729168 B TWI729168 B TW I729168B
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area
plane
boundary
interface
robot
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TW106123734A
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TW201908894A (en
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王培睿
黃識忠
謝吉模
蔡昀軒
夏紹基
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達明機器人股份有限公司
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Abstract

The invention is to disclose a method for setting the work area of robot, building a plurality of boundary planes with three points that are not collinear, cutting the boundary planes each other to form division planes, selecting division planes including the center of the three points as area boundaries, discarding useless division planes, deleting spare division planes adjacent to connection lines, selecting boundary edges of deleted spare division planes to connect planar planes, extending area boundaries with the spare division of planes planar planes including area boundaries, and setting the work area automatically.

Description

機器人工作區域的設定方法 Setting method of robot working area

本發明有關一種機器人,尤其關於人機協作型的工業機器人,根據作業人員在機器人工作環境的作業危險程度,設定機器人工作區域的方法。 The present invention relates to a robot, in particular to a human-machine cooperation type industrial robot, a method for setting the robot working area according to the degree of danger of the operator in the robot working environment.

機器人具有靈活移動、精確定位及連續性作業的特性,雖然為產品生產線上自動製造組裝的最佳利器,但仍有需要人機協同的作業狀況。而在人機協作中,設定機器人的工作區域,保護作業人員的安全,已成為人機協作的重要課題。 The robot has the characteristics of flexible movement, precise positioning and continuous operation. Although it is the best weapon for automatic manufacturing and assembly on the product production line, there are still operating conditions that require human-machine cooperation. In human-machine collaboration, setting the robot's working area to protect the safety of workers has become an important issue for human-machine collaboration.

為了確保作業人員在機器人工作環境的作業安全,例如美國專利案US20160167231,利用光學感測器或視覺裝置,劃設工作區域的安全作業界面,一旦偵測作業人員超越安全作業界面,機器人就會自動降低移動速度,以避免機器人碰觸作業人員而造成傷害。但是機器人裝設光學感測器或視覺裝置,不僅需要裝設的空間,且需要特定的偵測軟體,裝設成本高,降低產品的競爭力。因此,另有先前技術的機器人,直接利用輸入介面,在機器人的座標系統設定工作區域的界面座標,劃設機器人不同的工作區域,主動限制機器人進入各工作區域的移動速度,以簡化工作區域的設定作業。 In order to ensure the safety of workers in the working environment of robots, for example, US Patent US20160167231 uses optical sensors or vision devices to set up a safe operation interface in the work area. Once the worker is detected to exceed the safe operation interface, the robot will automatically Reduce the moving speed to avoid injury caused by the robot touching the operator. However, the installation of optical sensors or vision devices on robots requires not only installation space, but also specific detection software, which results in high installation costs and lower product competitiveness. Therefore, another prior art robot directly uses the input interface to set the interface coordinates of the working area in the coordinate system of the robot, to set different working areas of the robot, and to actively limit the moving speed of the robot into each working area to simplify the work area. Set the job.

然而,利用輸入介面一一標示工作區域各界面的座標,不僅設定作業過於繁複,無法快速完成工作區域的設定作業,而且無法目視座標標示的界面與機器人各工作區域間的實際關係,容易設定錯誤,往往也將機器人劃設在人機協作區域中,或需跨過人機協作的工作區域作業,導致機器人的移動傷害作業人員。因此,機器人在設定工作區域的方法上,仍有亟待解決的問題。 However, using the input interface to mark the coordinates of each interface of the working area one by one, not only the setting is too complicated, and the setting of the working area cannot be completed quickly, but also the actual relationship between the interface marked by the coordinates and the working areas of the robot cannot be visually recognized, which is easy to set errors. , The robot is often also located in the human-robot collaboration area, or needs to work across the human-robot collaboration work area, causing the robot to move and harm the operator. Therefore, there are still problems that need to be solved urgently in the method of setting the working area of the robot.

本發明的目的提供一種機器人工作區域的設定方法,在工作區域的區域界面,利用不共線的三點建置複數邊界平面,邊界平面相互裁切形成分割面,選擇包含三點的圓心的分割面作為區域界面,以快速設定工作區域。 The object of the present invention is to provide a method for setting the working area of a robot. In the area interface of the working area, three non-collinear points are used to build a complex boundary plane, the boundary planes are cut from each other to form a division plane, and the division containing the center of the three points is selected. The surface is used as the area interface to quickly set the working area.

本發明的另一目的提供一種機器人工作區域的設定方法,對於未形成封閉的工作區域,利用區域界面的連結線去除相鄰的備用分割面,再檢討被刪除備用分割面的界線邊平面連結的備用分割面,選取界線邊平面連結包含區域界面的備用分割面作為擴展區域界面,以自動設定封閉的工作區域。 Another object of the present invention is to provide a method for setting the working area of a robot. For an unclosed working area, use the connecting line of the area interface to remove the adjacent spare segmentation planes, and then review the boundary plane connection of the deleted spare segmentation planes. Spare split surface, select the boundary edge plane to connect the spare split surface containing the area interface as the extended area interface to automatically set the closed working area.

為了達到前述發明的目的,本發明機器人工作區域的設定方法,在機器人的工作環境,牽引機器人的工具端,利用不共線三點建置邊界平面,及利用三點的外圓的圓心,作為三點的位置中心,而各邊界平面相互裁切,在各邊界平面上形成複數分割面,選擇含圓心的分割面作為區域界面,連接各區域界面,以設定工作區域。 In order to achieve the purpose of the foregoing invention, the method for setting the working area of the robot of the present invention uses three non-collinear points to build a boundary plane in the working environment of the robot and the tool end of the robot, and uses the center of the three-point outer circle as The three points are located at the center, and the boundary planes are cut from each other to form a plurality of division planes on each boundary plane. The division plane with the center of the circle is selected as the area interface, and the area interfaces are connected to set the working area.

本發明的工作環境,為伸直機器人的工具端,獲得機器人最 大活動半徑範圍的球體。或由廠商提供的機器人的端效器的最大活動半徑的已知參數,再加上選擇的工具長度,計算機器人最大活動範圍的半徑。 The working environment of the present invention is to straighten the tool end of the robot to obtain the most A sphere with a large radius of activity. Or the known parameters of the maximum activity radius of the robot's end effector provided by the manufacturer, plus the selected tool length, calculate the radius of the maximum activity range of the robot.

本發明機器人工作區域的設定方法,將區域界面間相接的邊設為連結邊,未與區域界面相接的邊設為界線邊。並在連接各區域界面,檢查未形成封閉的工作區域時,進一步修正處理,去除無用的分割面,將剩餘的分割面分成區域界面及備用分割面,選擇並刪除相鄰區域界面的連結邊的備用分割面,檢討被刪除備用分割面的界線邊平面連結的備用分割面,選取該界線邊平面連結包含區域界面的備用分割面為區域界面,並擴展區域界面,連接區域界面,以設定工作區域。 In the method for setting the working area of the robot of the present invention, the side that meets between the area interfaces is set as the connecting side, and the side that is not in contact with the area interface is set as the boundary edge. And when connecting each area interface and checking that a closed working area is not formed, further corrections are performed to remove the useless segmentation surface, divide the remaining segmentation surface into the area interface and the spare segmentation surface, and select and delete the connecting edge of the adjacent area interface Spare segmentation plane, review the alternate segmentation plane connected by the boundary edge plane of the deleted alternate segmentation plane, select the boundary edge plane to connect the alternate segmentation plane containing the area interface as the area interface, and expand the area interface and connect the area interface to set the working area .

本發明根據建置邊界平面的三點的分布,去除頂底邊界平面外圍無用的分割面。並在連接各區域界面形成工作區域時,利用檢查的界線邊的存在,檢測多面體工作區域的封閉狀態。 According to the distribution of the three points of the built-up boundary plane, the present invention removes useless dividing planes on the periphery of the top and bottom boundary planes. And when the interface of each area is connected to form a working area, the existence of the boundary edge of the inspection is used to detect the closed state of the working area of the polyhedron.

10:機器人 10: Robot

11:基座 11: Pedestal

12:工作環境 12: Working environment

13、13a:六面體工作區域 13, 13a: hexahedral working area

14、16:分割面 14, 16: split surface

14a、16a:備用分割面 14a, 16a: spare split surface

15、15a:八面體工作區域 15, 15a: octahedral working area

17:連結邊 17: Link edges

18、18a、18b、18c:界線邊 18, 18a, 18b, 18c: boundary edge

[1]至[8]:區域界面 [1] to [8]: Area interface

A至H:邊界平面 A to H: boundary plane

圖1 為本發明機器人的工作環境的立體圖。 Figure 1 is a perspective view of the working environment of the robot of the present invention.

圖2 為本發明建置邊界平面的示意圖。 Figure 2 is a schematic diagram of the boundary plane established by the present invention.

圖3 為本發明第一實施例設定工作區域的立體圖。 Fig. 3 is a three-dimensional view of the working area set in the first embodiment of the present invention.

圖4 為本發明第一實施例邊界平面間交叉裁切的示意圖。 Fig. 4 is a schematic diagram of cross cutting between boundary planes according to the first embodiment of the present invention.

圖5 為本發明第一實施例區域界面形成的工作區域的立體圖。 FIG. 5 is a perspective view of the working area formed by the area interface of the first embodiment of the present invention.

圖6 為本發明第二實施例設定工作區域的立體圖。 Fig. 6 is a three-dimensional view of the setting working area of the second embodiment of the present invention.

圖7 為本發明第二實施例邊界平面間交叉裁切的示意圖。 Fig. 7 is a schematic diagram of cross cutting between boundary planes according to the second embodiment of the present invention.

圖8 為本發明第二實施例區域界面形成的工作區域的立體圖。 FIG. 8 is a perspective view of the working area formed by the area interface of the second embodiment of the present invention.

圖9 為本發明第二實施例去除無用分割面的示意圖。 FIG. 9 is a schematic diagram of removing useless dividing planes according to the second embodiment of the present invention.

圖10 為本發明第二實施例連結邊相鄰的備用分割面的立體圖。 Fig. 10 is a perspective view of a spare split surface with adjacent connecting edges of the second embodiment of the present invention.

圖11 為本發明第二實施例刪除連結邊相鄰的備用分割面的示意圖。 FIG. 11 is a schematic diagram of deleting the alternate split planes adjacent to the connected edges in the second embodiment of the present invention.

圖12 為本發明第二實施例未選取邊界線平面連結的備用分割面的立體圖。 FIG. 12 is a perspective view of a spare split plane connected by planes without boundary lines selected according to the second embodiment of the present invention.

圖13 為本發明第二實施例選取邊界線平面連結的備用分割面的立體圖。 Fig. 13 is a perspective view of a second embodiment of the present invention selecting a spare split plane connected by the boundary line plane.

圖14 為本發明第二實施例另一選取邊界線平面連結的備用分割面的立體圖。 FIG. 14 is a perspective view of another alternate split plane connected by planes of selected boundary lines according to the second embodiment of the present invention.

圖15 為本發明第二實施例擴展區域界面的示意圖。 FIG. 15 is a schematic diagram of an extended area interface according to the second embodiment of the present invention.

圖16 為本發明機器人工作區域的設定方法的流程圖。 Fig. 16 is a flowchart of a method for setting a working area of a robot according to the present invention.

有關本發明為達成上述目的,所採用之技術手段及其功效,茲舉較佳實施例,並配合圖式加以說明如下。 With regard to the technical means adopted by the present invention in order to achieve the above-mentioned objects and their effects, preferred embodiments are described below in conjunction with the drawings.

請同時參考圖1及圖2,圖1為本發明機器人的工作環境的立體圖,圖2為本發明建置邊界平面的示意圖。圖2中,機器人10為多軸型態,固定端為基座11,另一端為活動的工具端(Tool Center Point,簡稱TCP)。本發明的機器人10以基座11為原點0,構成機器人座標系統W,操控移動工具端TCP,工具端TCP移動的每一位置,都可由多軸機器人10的每一肘節轉動角度紀錄,在機器人座標系統W獲得位置座標。當控制機器人10將工具端TCP伸直,由工具端TCP的座標與原點0的距離,可獲得機器人10最大活動範圍球體的半徑R,進而界定出機器人10的工作環境12。實務上,亦可由廠商提供的機器人10的端效器最大活動半徑的已知參數,再加上選擇的工具長度,計算出機器人10最大活動範圍的半徑R。 Please refer to FIGS. 1 and 2 at the same time. FIG. 1 is a three-dimensional view of the working environment of the robot of the present invention, and FIG. 2 is a schematic diagram of the boundary plane of the present invention. In FIG. 2, the robot 10 has a multi-axis type, the fixed end is a base 11, and the other end is a movable tool end (Tool Center Point, TCP for short). The robot 10 of the present invention uses the base 11 as the origin 0 to form the robot coordinate system W, which controls the TCP of the mobile tool end. Each position of the TCP of the tool end can be recorded by the rotation angle of each toggle of the multi-axis robot 10. The position coordinates are obtained in the robot coordinate system W. When the robot 10 is controlled to straighten the TCP of the tool end, the distance between the coordinates of the TCP of the tool end and the origin 0 can obtain the radius R of the sphere of the maximum range of motion of the robot 10, thereby defining the working environment 12 of the robot 10. In practice, the known parameters of the maximum movement radius of the end effector of the robot 10 provided by the manufacturer, plus the selected tool length, can be used to calculate the radius R of the maximum movement range of the robot 10.

圖2中,本發明在界定出機器人10的工作環境12後,利用建置邊界平面M進行劃分工作環境12為不同的工作區域。首先牽引機器人10的工具端TCP,分別至需要的工作區域的區域界面上不共線的任三點P1,P2,P3,並記錄三點的座標。利用不共線三點的座標資料自動形成邊界平面M,邊界平面M就可將機器人10的工作環境12劃分為兩個區域。另外,利用三點P1,P2,P3求出外圓T,並取得外圓T的圓心N,以圓心N作為三點P1,P2,P3的位置中心。 In FIG. 2, after defining the working environment 12 of the robot 10, the present invention uses the construction boundary plane M to divide the working environment 12 into different working areas. First, pull the tool end TCP of the robot 10 to any three points P1, P2, P3 that are not collinear on the area interface of the required work area, and record the coordinates of the three points. Using coordinate data of three non-collinear points, the boundary plane M is automatically formed, and the boundary plane M can divide the working environment 12 of the robot 10 into two regions. In addition, the outer circle T is obtained using the three points P1, P2, and P3, and the center N of the outer circle T is obtained, and the center N is used as the position center of the three points P1, P2, P3.

請同時參考圖3至圖5,圖3為本發明第一實施例設定工作區域的立體圖,圖4為本發明第一實施例邊界平面間交叉裁切的示意圖,圖5為本發明第一實施例形成的工作區域的立體圖。圖3中,本實施例在工作環境12中設定六面體工作區域13舉例說明,但本發明包含且不限於六面體的工作區域。本發明在設定六面體工作區域13時,利用前述不共線三點建置邊界平面及求取圓心的方法,分別在工作區域13的垂直區域界面[1]至[4]、水平的頂區域界面[5]、及水平的底區域界面[6],建置邊界平面A至F及區域界面[1]至[6]的圓心(參圖中圓點)。 Please refer to FIGS. 3 to 5 at the same time. FIG. 3 is a three-dimensional view of the working area set in the first embodiment of the present invention. FIG. 4 is a schematic diagram of cross cutting between boundary planes according to the first embodiment of the present invention. FIG. 5 is the first embodiment of the present invention. Example of a three-dimensional view of the working area. In FIG. 3, in this embodiment, a hexahedral working area 13 is set in the working environment 12 for illustration, but the present invention includes but is not limited to a hexahedral working area. When setting the hexahedral working area 13 in the present invention, the aforementioned three non-collinear points are used to construct the boundary plane and find the center of the circle. The vertical area interfaces [1] to [4] and the horizontal top of the working area 13 are respectively used. The regional interface [5], and the horizontal bottom regional interface [6], build the center of the boundary planes A to F and the regional interface [1] to [6] (refer to the circle in the figure).

圖4中,由於邊界平面A至F相互交叉裁切,在各邊界平面A至F上形成複數分割面14,例如針對工作區域13的垂直區域界面[1]建置的邊界平面A,被邊界平面B、D、E、F交叉分割成複數分割面14(如圖中灰色部分所示)。可能將不共線的三點分割在不同的分割面14,或建置區域界面的三點過於集中在同一分割面14,而不共線的三點形成外圓的圓心,為 三點的中心,可確保圓心位在一區域界面[1],以利快速選擇包含圓心的分割面14作為區域界面[1]。同樣在於邊界平面B、C、D、E、F、選擇含圓心的分割面14作為區域界面[2]至[6](如圖中白色部分所示)。圖5中,將區域界面[1]至[6]初步形成工作區域13進行檢測,就可形成封閉的六面體工作區域13完成設定。 In Fig. 4, since the boundary planes A to F cross and cut each other, a plurality of dividing planes 14 are formed on the boundary planes A to F. For example, the boundary plane A established for the vertical area interface [1] of the working area 13 is bounded The planes B, D, E, and F are intersected and divided into a plurality of dividing planes 14 (shown in the gray part in the figure). The three non-collinear points may be divided on different dividing planes 14, or the three points of the construction area interface are too concentrated on the same dividing plane 14, and the three non-collinear points form the center of the outer circle, which is the center of the three points , To ensure that the center of the circle is located at a regional interface [1], so as to quickly select the dividing surface 14 containing the center of the circle as the regional interface [1]. The same lies in the boundary planes B, C, D, E, F, and the dividing plane 14 containing the center is selected as the regional interfaces [2] to [6] (shown in the white part in the figure). In Fig. 5, the area interfaces [1] to [6] are preliminarily formed into a working area 13 for detection, and then a closed hexahedral working area 13 can be formed to complete the setting.

請同時參考圖6至圖11,圖6為本發明第二實施例設定工作區域的的立體圖,圖7為本發明第二實施例邊界平面間交叉裁切的示意圖,圖8為本發明第二實施例區域界面形成的工作區域的立體圖,圖9為本發明第二實施例去除無用分割面的示意圖,圖10為本發明第二實施例連結邊相鄰的備用分割面的立體圖,圖11為本發明第二實施例刪除連結邊相鄰的備用分割面的示意圖。本發明第二實施例與第一實施例的基本架構相同,差別僅在較複雜的多面體工作區域,為簡化說明相同構件沿用第一實施例的相同件號,合先敘明。圖6中,本發明第二實施例在工作環境12中設定八面體工作區域15。本發明在設定八面體工作區域15時,利用前述不共線三點建置邊界平面及求取圓心的方法,分別在工作區域15的垂直區域界面[1]至[6]、水平的頂區域界面[7]、及水平的底區域界面[8],建置邊界平面A至H及區域界面[1]至[8]的圓心。 Please refer to FIGS. 6 to 11 at the same time. FIG. 6 is a three-dimensional view of the setting working area in the second embodiment of the present invention. FIG. 7 is a schematic diagram of cross cutting between boundary planes in the second embodiment of the present invention. FIG. 8 is the second embodiment of the present invention. The perspective view of the working area formed by the area interface of the embodiment, FIG. 9 is a schematic diagram of the second embodiment of the present invention with the useless dividing surface removed, FIG. 10 is a perspective view of the spare dividing surface with adjacent connecting edges of the second embodiment of the present invention, and FIG. 11 is In the second embodiment of the present invention, a schematic diagram of a spare split surface adjacent to the connecting edge is deleted. The basic structure of the second embodiment of the present invention is the same as that of the first embodiment, and the difference is only in the more complex polyhedral work area. To simplify the description of the same components, the same part numbers of the first embodiment are used, which will be described first. In FIG. 6, the second embodiment of the present invention sets an octahedral working area 15 in the working environment 12. When setting the octahedral working area 15, the present invention uses the aforementioned three non-collinear points to construct the boundary plane and obtain the center of the circle. The vertical area interfaces [1] to [6] and the horizontal top of the working area 15 are respectively used. The regional interface [7], and the horizontal bottom regional interface [8], build the center of the boundary planes A to H and the regional interfaces [1] to [8].

圖7中,由於邊界平面A至H相互交叉裁切,在各邊界平面A至H上形成複數分割面16,例如針對工作區域15的垂直區域界面[1]建置的邊界平面A,被邊界平面B、D、F、G、H交叉裁切成複數分割面16。八面體工作區域15交叉裁切較密集,可能將不共線的三點裁切在不同的分割面16,或建置區域界面的三點過於集中在同一分割面16,而不共線的三點 形成外圓的圓心,為三點的中心,可確保圓心位在一個區域界面[1],以利快速選擇包含圓心的分割面16作為區域界面[1]。同樣在於邊界平面B、C、D、E、F、G、H選擇含圓心的分割面16作為區域界面[2]至[8]。圖8中,將區域界面[1]至[8]初步形成檢測工作區域15a進行檢測,較複雜的工作區域15a,檢測尚未形成封閉的工作區域15,則需要進一步修正處理設定。 In Fig. 7, since the boundary planes A to H are cross-cut, a plurality of dividing planes 16 are formed on the boundary planes A to H. For example, the boundary plane A established for the vertical area interface [1] of the working area 15 is bounded The planes B, D, F, G, and H are cross-cut into a plurality of dividing planes 16. The octahedral work area 15 is more intensively cross-cut. The three points that are not collinear may be cut on different dividing planes 16, or the three points of the build area interface are too concentrated on the same dividing plane 16, instead of being collinear. The three points form the center of the outer circle, which is the center of the three points, which can ensure that the center of the circle is located at a regional interface [1], so as to quickly select the dividing surface 16 containing the center of the circle as the regional interface [1]. Similarly, in the boundary planes B, C, D, E, F, G, and H, the dividing plane 16 with the center of the circle is selected as the regional interface [2] to [8]. In Fig. 8, the area interfaces [1] to [8] are preliminarily formed into a detection working area 15a for detection. For the more complex working area 15a, the detection has not yet formed a closed working area 15, and the processing settings need to be further modified.

修正處理時,在圖9中,根據建置邊界平面A至H的三點的分布,先去除邊界平面G、H上下外圍無用的分割面16,以利減少處理的資料。再將剩餘的分割面16分成區域界面[1]至[8]及備用分割面16a,取圓心所在的分割面A3、B3、C2、D2、E2、F2、G11及H11為區域界面[1]至[8],其餘的分割面16為備用分割面16a。接著根據初步形成工作區域15a,將各區域界面[1]至[8]與其他區域界面相接的邊設為連結邊17(參圖9中加粗實線),而將各區域界面[1]至[8]尚未與其他區域界面相接的邊設為界線邊18,可利用檢查的界線邊18存在,檢測工作區域15a未形成封閉的工作區域。圖10中,因工作區域15a的區域界面1至5均在連結邊形成兩兩相連,對連接在連結邊17的其他備用分割面16a,就可確定為無用的分割面16a,選擇刪除相鄰連結邊17的備用分割面A2、B2、B4、C1、C3、D1、D3、E1、G12及H12,形成圖11中刪除連結邊17相鄰的備用分割面的狀態。 During the correction process, in FIG. 9, according to the distribution of the three points of the built boundary plane A to H, the useless segmentation planes 16 on the upper and lower periphery of the boundary planes G and H are first removed to reduce the processed data. Then divide the remaining segmentation plane 16 into regional interfaces [1] to [8] and a spare segmentation plane 16a, and take the segmentation planes A3, B3, C2, D2, E2, F2, G11, and H11 where the center of the circle is located as the regional interface [1] To [8], the remaining dividing surfaces 16 are spare dividing surfaces 16a. Then, according to the preliminary formation of the working area 15a, the edges of each area interface [1] to [8] and other area interfaces are set as connecting edges 17 (see the bold solid line in Figure 9), and the area interfaces [1] ] To [8] The edges that have not yet interfaced with other areas are set as boundary edges 18, and the boundary edges 18 that can be checked exist, and the detection work area 15a does not form a closed work area. In Fig. 10, because the area interfaces 1 to 5 of the working area 15a are connected in pairs on the connecting side, the other spare partitioning surfaces 16a connected to the connecting side 17 can be determined as useless partitioning surfaces 16a. Select to delete adjacent The spare dividing planes A2, B2, B4, C1, C3, D1, D3, E1, G12, and H12 of the connecting side 17 form a state in which the spare dividing planes adjacent to the connecting side 17 are deleted in FIG. 11.

接著在圖11中,檢討刪除連結邊17相鄰的備用分割面A2、B2、B4、C1、C3、D1、D3、E1、G12及H12的界線邊18。前述被刪除的各備用分割面具有一個連結邊17及三個界線邊18a、18b、18c(參圖11的虛線邊),針對被刪除的備用分割面A2,利用三個界線邊18a、18b、18c檢討平面連結的兩剩餘分割面,如果其中一為區域界面A3、B3、C2、D2、E2、F2、G11及 H11之一,則選擇為區域界面,否則刪除。 Next, in FIG. 11, review and delete the boundary edges 18 of the alternate dividing planes A2, B2, B4, C1, C3, D1, D3, E1, G12, and H12 adjacent to the connecting edge 17. Each of the aforementioned deleted spare dividing planes has a connecting side 17 and three boundary edges 18a, 18b, 18c (refer to the dotted side in FIG. 11). For the deleted backup dividing plane A2, three boundary edges 18a, 18b, 18c examines the two remaining division planes connected by the plane. If one of them is one of the area interfaces A3, B3, C2, D2, E2, F2, G11, and H11, select the area interface, otherwise delete it.

如圖12所示,為本發明第二實施例未選取邊界線平面連結的備用分割面的立體圖。刪除的分割面A2的界線邊18a沿邊界平面,平面連結剩餘的分割面G2與G6,分割面G2與G6均為備用分割面,不選擇為區域界面,應加以刪除,分割面A2的界線邊18b沿邊界平面,平面連結剩餘的分割面A1與A2,分割面A1為備用分割面,而分割面A2已刪除,不選擇為區域界面,應加以刪除,分割面A2的界線邊18c沿邊界平面,平面連結剩餘的分割面H2與H6,分割面H2與H6均為備用分割面,應加以刪除。同理,一個個檢討刪除的分割面B4、C1、D1、D3、E1、G12及H12的界線邊18a、18b、18c(參圖10),平面連結的剩餘分割面均未含區域界面A3、B3、C2、D2、E2、F2、G11及H11之一,不選擇為區域界面,應加以刪除。 As shown in FIG. 12, it is a three-dimensional view of a spare split plane connected by planes without boundary lines selected in the second embodiment of the present invention. The boundary edge 18a of the deleted dividing plane A2 is along the boundary plane, and the plane connects the remaining dividing planes G2 and G6. The dividing planes G2 and G6 are spare dividing planes. It is not selected as the regional interface and should be deleted. The boundary edge of dividing plane A2 18b is along the boundary plane, and the plane connects the remaining split planes A1 and A2. The split plane A1 is a spare split plane, and the split plane A2 has been deleted. If it is not selected as a regional interface, it should be deleted. The boundary edge 18c of the split plane A2 is along the boundary plane , The plane connects the remaining split planes H2 and H6, and the split planes H2 and H6 are spare split planes and should be deleted. In the same way, review and delete the boundary edges 18a, 18b, and 18c of the deleted dividing planes B4, C1, D1, D3, E1, G12, and H12 (see Figure 10). The remaining dividing planes connected by the plane do not contain the area interfaces A3, One of B3, C2, D2, E2, F2, G11, and H11 should be deleted if it is not selected as a regional interface.

如圖13所示,為本發明第二實施例選取邊界線平面連結的備用分割面的立體圖。刪除的分割面B2的界線邊18a平面連結剩餘的分割面G10與G11,分割面G10雖為備用分割面,但包含區域界面G11,因此選擇備用分割面G10為區域界面。分割面B2的界線邊18b平面連結剩餘的分割面B1與B2,分割面B1為備用分割面,而分割面B2已刪除,不選擇為區域界面,應加以刪除,分割面B2的界線邊18b另平面連結剩餘的分割面E2與E3,分割面E3雖為備用分割面,但分割面E2為區域界面,因此選擇備用分割面E3為區域界面。分割面B2的界線邊18c平面連結剩餘的分割面H10與H11,分割面H7雖為備用分割面,但包含區域界面H11,因此選擇備用分割面H10為區域界面。 As shown in FIG. 13, it is a perspective view of a second embodiment of the present invention selecting a spare split plane connected by the boundary line plane. The boundary 18a of the deleted dividing plane B2 planarly connects the remaining dividing planes G10 and G11. Although the dividing plane G10 is a spare dividing plane, it includes the area interface G11, so the spare dividing plane G10 is selected as the area interface. The boundary 18b of the dividing plane B2 plane connects the remaining dividing planes B1 and B2. The dividing plane B1 is a spare dividing plane, and the dividing plane B2 has been deleted. If it is not selected as the area interface, it should be deleted. The boundary 18b of the dividing plane B2 is another The plane connects the remaining split surfaces E2 and E3. Although the split surface E3 is a spare split surface, the split surface E2 is a regional interface, so the spare split surface E3 is selected as the regional interface. The boundary 18c of the dividing surface B2 planarly connects the remaining dividing surfaces H10 and H11. Although the dividing surface H7 is a spare dividing surface, it includes the area interface H11. Therefore, the spare dividing surface H10 is selected as the area interface.

如圖14所示,為本發明第二實施例另一選取邊界線平面連結的備用分割面的立體圖。刪除的分割面C3的界線邊18a平面連結剩餘的分割面G7與G11,分割面G7雖為備用分割面,但包含區域界面G11,因此選擇備用分割面G7為區域界面,分割面C3的界線邊18b平面連結剩餘的分割面C3與C4,分割面C4為備用分割面,而分割面C3已刪除,不選擇為區域界面,應加以刪除,分割面C3的界線邊18b另平面連結剩餘的分割面F2與F3,分割面F3雖為備用分割面,但分割面F2為區域界面,因此選擇備用分割面F3為區域界面。分割面C3的界線邊18c平面連結剩餘的分割面H7與H11,分割面H7雖為備用分割面,但包含區域界面H11,因此選擇備用分割面H7為區域界面。 As shown in FIG. 14, it is a three-dimensional view of another alternate split plane connected by planes of selected boundary lines according to the second embodiment of the present invention. The boundary edge 18a of the deleted dividing plane C3 plane connects the remaining dividing planes G7 and G11. Although dividing plane G7 is a spare dividing plane, it includes the area interface G11. Therefore, the spare dividing plane G7 is selected as the area interface, and the boundary edge of the dividing plane C3 The plane 18b connects the remaining split planes C3 and C4. The split plane C4 is a spare split plane, and the split plane C3 has been deleted. If it is not selected as a regional interface, it should be deleted. The boundary edge 18b of the split plane C3 connects the remaining split planes with another plane. F2 and F3, although the dividing plane F3 is a spare dividing plane, but the dividing plane F2 is a regional interface, so the spare dividing plane F3 is selected as the regional interface. The boundary edge 18c of the dividing surface C3 planarly connects the remaining dividing surfaces H7 and H11. Although the dividing surface H7 is a spare dividing surface, it includes the area interface H11. Therefore, the spare dividing surface H7 is selected as the area interface.

如圖15所示,為本發明第二實施例擴展區域界面的示意圖。利用選擇的備用分割面E3將區域界面[5]由原分割面E2平面擴展至分割面E2加E3,利用選擇的備用分割面F3將區域界面[6]由原分割面F2平面擴展至分割面F2加F3,利用選擇的備用分割面G7及G10將區域界面[7]由原分割面G11平面擴展至分割面G11加G7加G10,同樣利用選擇的備用分割面H7及H10將區域界面[8]由原分割面H11平面擴展至分割面H11加H7加H10。選擇將區域界面[1]至[8](如圖中白色部分所示),就可形成封閉的八面體工作區域15,就完成設定。 As shown in FIG. 15, it is a schematic diagram of an extended area interface according to the second embodiment of the present invention. Use the selected spare split surface E3 to extend the area interface [5] from the original split surface E2 plane to the split surface E2 plus E3, and use the selected spare split surface F3 to extend the area interface [6] from the original split surface F2 plane to the split surface F2 plus F3, use the selected spare split planes G7 and G10 to extend the regional interface [7] from the original split plane G11 plane to the split plane G11 plus G7 plus G10, and also use the selected spare split planes H7 and H10 to extend the regional interface [8 ] The plane extends from the original dividing plane H11 to the dividing plane H11 plus H7 plus H10. Select the area interface [1] to [8] (shown in the white part in the figure) to form a closed octahedral working area 15, and then complete the setting.

如圖16所示,為本發明機器人工作區域的設定方法的流程圖。本發明機器人工作區域的設定方法的詳細步驟說明如下:在步驟S1,本發明開始設定工作區域時;步驟S2,利用不共線三點建置邊界平面及圓心;步驟S3,各邊界平面相互交叉裁切,在各邊界平面上形成複數分割面;步驟S4,選擇含圓心的分割面作為區域界面;步驟S5,檢查區域界面形成封閉的工作區域?假如區域界面形成封閉的工作區域,則至步驟S10,假如區 域界面未形成封閉的工作區域時,則至步驟S6,可根據建置邊界平面的三點的分布,去除無用的分割面;步驟S7,選擇並刪除相鄰區域界面的連結邊的備用分割面;步驟S8,檢討刪除備用分割面的界線邊平面連結的備用分割面;步驟S9,選取界線邊平面連結包含區域界面的備用分割面為區域界面,並擴展區域界面;步驟S10,連接區域界面設定工作區域;步驟S11,結束工作區域的設定作業。 As shown in FIG. 16, it is a flowchart of the method for setting the working area of the robot of the present invention. The detailed steps of the method for setting the working area of the robot of the present invention are described as follows: in step S1, when the present invention starts to set the working area; step S2, use three non-collinear points to build the boundary plane and the center of the circle; step S3, the boundary planes intersect each other Cut to form a plurality of segmentation planes on each boundary plane; Step S4, select the segmentation plane containing the center of the circle as the area interface; Step S5, check the area interface to form a closed working area? If the area interface forms a closed working area, go to step S10, if the area When the domain interface does not form a closed working area, go to step S6, according to the three-point distribution of the built boundary plane, remove the useless segmentation surface; step S7, select and delete the spare segmentation surface of the connecting edge of the adjacent area interface Step S8, review and delete the alternate split plane connected by the boundary edge plane of the alternate split plane; Step S9, select the boundary edge plane to connect the alternate split plane containing the regional interface as the regional interface, and expand the regional interface; Step S10, connect the regional interface settings Work area; step S11, end the setting of the work area.

因此,本發明的機器人工作區域的設定方法,在工作區域的區域界面,利用不共線的三點建置複數邊界平面,邊界平面間相互裁切形成分割面,在各邊界平面選擇包含三點的圓心的分割面作為區域界面,達到快速設定工作區域的目的,而對於檢測未形成封閉的工作區域,則進一步修正連結,利用區域界面的連結線去除相鄰的備用分割面,再檢討刪除備用分割面的界線邊平面連結的備用分割面,選取界線邊平面連結包含區域界面的備用分割面為區域界面,作為修正擴展區域界面,達到自動設定封閉的工作區域的目的。 Therefore, the method for setting the working area of the robot of the present invention uses three non-collinear points to build a complex boundary plane on the area interface of the working area. The boundary planes are cut from each other to form a dividing plane, and each boundary plane is selected to contain three points. The dividing surface of the center of the circle is used as the area interface to achieve the purpose of quickly setting the working area. For the detection of the unclosed working area, the connection is further corrected, and the adjacent backup dividing surface is removed by the connection line of the area interface, and then reviewing and deleting the backup The alternate split plane connected by the boundary edge plane of the split surface, select the boundary edge plane to connect the alternate split plane containing the area interface as the area interface, as the modified extended area interface, to achieve the purpose of automatically setting the closed working area.

以上所述者,僅為用以方便說明本發明之較佳實施例,本發明之範圍不限於該等較佳實施例,凡依本發明所做的任何變更,於不脫離本發明之精神下,皆屬本發明申請專利之範圍。 The above are only for the convenience of describing the preferred embodiments of the present invention. The scope of the present invention is not limited to these preferred embodiments. Any changes made in accordance with the present invention will not depart from the spirit of the present invention. , All belong to the scope of the patent application of the present invention.

12:工作環境 12: Working environment

13:工作區域 13: Work area

[1]至[6]:區域界面 [1] to [6]: Area interface

A至F:邊界平面 A to F: boundary plane

Claims (8)

一種機器人工作區域的設定方法,其步驟包含:在機器人的工作環境中,利用工作區域的一區域界面上不共線三點建置對應的邊界平面,進而形成對應複數區域界面的複數邊界平面,及求出該各區域界面上各該邊界平面的該不共線三點構成的複數外圓圓心;各邊界平面相互裁切,在各邊界平面上形成複數分割面;選擇含邊界平面上的外圓圓心的分割面作為區域界面;連接各區域界面設定成工作區域。 A method for setting the working area of a robot, the steps include: in the working environment of the robot, using three non-collinear points on a region interface of the working region to construct a corresponding boundary plane, thereby forming a complex boundary plane corresponding to the interface of the plural regions, And find out the center of the complex outer circle formed by the three non-collinear points of each boundary plane on the interface of each area; the boundary planes are cut from each other to form a complex dividing plane on each boundary plane; select the outer circle on the boundary plane containing the boundary The dividing plane at the center of the circle is used as the area interface; the interface connecting each area is set as the working area. 如申請專利範圍第1項所述之機器人工作區域的設定方法,其中該工作環境為伸直該機器人的工具端,作為該機器人最大活動半徑形成的球體。 According to the method for setting the working area of the robot as described in item 1 of the scope of patent application, the working environment is to straighten the tool end of the robot as a sphere formed by the maximum radius of movement of the robot. 如申請專利範圍第2項所述之機器人工作區域的設定方法,其中牽引該機器人的工具端至不共線三點,記錄該不共線三點的座標,以建置該邊界平面。 For example, the method for setting the working area of the robot described in the scope of patent application 2, wherein the tool end of the robot is pulled to three non-collinear points, and the coordinates of the three non-collinear points are recorded to construct the boundary plane. 如申請專利範圍第1項所述之機器人工作區域的設定方法,其中該不共線三點的外圓的圓心,作為該三點的位置中心。 In the method for setting the working area of the robot described in the first item of the scope of patent application, the center of the outer circle of the three non-collinear points is used as the position center of the three points. 如申請專利範圍第1項所述之機器人工作區域的設定方法,其中該各區域界面間相接的邊設為連結邊,未相接的邊設為界線邊。 As described in the first item of the scope of patent application, the method for setting the working area of the robot, wherein the edges of the interfaces between the areas are set as connecting edges, and the unconnected edges are set as boundary edges. 如申請專利範圍第5項所述之機器人工作區域的設定方法,其中連接各區域界面時,檢查未形成封閉的工作區域,進一步處理步驟包含:根據建置邊界平面的三點的分布,從邊界平面中選擇頂部或底部邊界平面;將頂部或底部邊界平面外圍的分割面設為無用加以去除,將剩餘的分割 面分成含圓心的區域界面及不含圓心的備用分割面;選擇並刪除相鄰區域界面的連結邊的備用分割面;檢查被刪除備用分割面的界線邊平面連結的備用分割面;選取界線邊平面連結包含區域界面的備用分割面為新增區域界面,並擴展新增區域界面;連接各區域界面設定工作區域。 For example, the method for setting the working area of the robot described in item 5 of the scope of patent application, in which when connecting the interface of each area, it is checked that a closed working area is not formed. The further processing steps include: according to the distribution of three points on the boundary plane, starting from the boundary Select the top or bottom boundary plane in the plane; set the dividing surface around the top or bottom boundary plane to be useless to remove, and remove the remaining division The surface is divided into the area interface with the center and the spare split surface without the center; select and delete the spare split surface of the connecting edge of the adjacent area interface; check the spare split surface connected by the boundary edge plane of the deleted spare split surface; select the boundary edge The plane link includes the alternate partition surface of the area interface as a new area interface, and expands the newly added area interface; connects each area interface to set the working area. 如申請專利範圍第6項所述之機器人工作區域的設定方法,其中該各區域界面連接形成工作區域時,利用檢查該界線邊的存在,檢測封閉的該工作區域。 The method for setting the working area of a robot as described in item 6 of the scope of patent application, wherein when the interfaces of the areas are connected to form a working area, the existence of the boundary edge is checked to detect the closed working area. 如申請專利範圍第7述之機器人工作區域的設定方法,其中該工作區域為多面體。 For example, the method for setting the working area of a robot described in the seventh scope of the patent application, wherein the working area is a polyhedron.
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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102773862A (en) * 2012-07-31 2012-11-14 山东大学 Quick and accurate locating system used for indoor mobile robot and working method thereof
TWI494724B (en) * 2013-12-31 2015-08-01 Syntec Inc Numerical control system of coordinate synchronization and numerical controlling method thereof

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102773862A (en) * 2012-07-31 2012-11-14 山东大学 Quick and accurate locating system used for indoor mobile robot and working method thereof
TWI494724B (en) * 2013-12-31 2015-08-01 Syntec Inc Numerical control system of coordinate synchronization and numerical controlling method thereof

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