WO2009155947A1 - Système de commande et procédé de commande - Google Patents

Système de commande et procédé de commande Download PDF

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Publication number
WO2009155947A1
WO2009155947A1 PCT/EP2008/005205 EP2008005205W WO2009155947A1 WO 2009155947 A1 WO2009155947 A1 WO 2009155947A1 EP 2008005205 W EP2008005205 W EP 2008005205W WO 2009155947 A1 WO2009155947 A1 WO 2009155947A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
control system
information
person
trajectory
Prior art date
Application number
PCT/EP2008/005205
Other languages
English (en)
Inventor
Björn MATTHIAS
Kevin Behnisch
Roland Krieger
Original Assignee
Abb Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Abb Ag filed Critical Abb Ag
Priority to PCT/EP2008/005205 priority Critical patent/WO2009155947A1/fr
Publication of WO2009155947A1 publication Critical patent/WO2009155947A1/fr

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Classifications

    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35472—Mode selection
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40202—Human robot coexistence

Definitions

  • the invention relates to a control system for at least one robot, comprising a data processing means and at least one robot program stored thereon, whereas the robot program determines at least one trajectory of the at least one robot by a given movement path and a given movement speed, whereas the control system is configured to receive and process safety-relevant first information of a person near or within the working range of the at least one robot, whereas the processed first information causes either an emergency stop of the robot or no reaction during the execution of the robot program.
  • the invention relates also to a belonging method for control.
  • a typical robot comprises for example a manipulator with 6 degrees of freedom in movement. It consists typically of a robot base, which is tumable around a first axis, and an arm which is mounted pivotable on the robot base. An arm may consist of 2 segments with one degree of freedom in movement each. At the tip of an arm a robot-hand, typically with 2 or 3 degrees of freedom, is mounted.
  • a robot might have a working range of 1m to 4m around the robot base, but also a radius of 10m and higher is thinkable. Also other machines with less or more degrees of freedom or without robot base have to be considered as robots.
  • a typical robot comprises a manipulator as described above and a control system respectively a robot controller, which determines the movements of the robot respectively the belonging drives, whereas normally each degree of freedom requires one dedicated drive.
  • a data processing means as part of the control system normally contains a robot program stored thereon, where different trajectories of the robot are defined.
  • a control system also comprises safety functionalities so that a person near of the robot is not in danger of being injured by the robot.
  • safety requirements for robots in industrial environments are described for example in ISO 10218-1. It is known that robots normally are used as autonomous devices within a certain production environment and perform production tasks without any immediate collaboration with any human being. According to the safety requirements for such robots, the robot makes an emergency stop if any danger for a person might arise, for example, if a person enters a defined area in or around the working range of the robot.
  • robots will be increasingly used also for collaborative tasks with human beings, for which a person has to be at least sometimes within the working range of the robot while the robot program is executed. This could be required for example, when a person hands over a work piece to the robot.
  • the objective of the invention is to provide a control system for a robot, which is easily suitable as well for an autonomous operation of the robot as for human-robot cooperation.
  • the control system is configured to alternatively receive and process safety-relevant second information of a person near or within the working range of the robot, whereas the processed second information adaptively influences the trajectory of the robot, so that the safety of the person is ensured while executing the robot program.
  • First information comprises data that a person might be in or near the working range of the robot. This is for example a signal that a door which is leading to an enclosed working area of the robot is opened. This can also be a signal from a light barrier or from a distance sensor that a certain distance of a person to the robot drops below a limit.
  • Such first information has either a binary character such as a door is opened or closed respectively a person is in a light barrier or not.
  • the character of a signal can become binary by comparing it with a limit value such as a minimum distance, whereas the comparison is part of the processing of the first information.
  • the effect of the first information is also binary, so that either an emergency stop is done or that the robot program is executed without any change.
  • Second information has a higher information degree than first information and contains person-related data and/or characteristics, such as 3D pictures and/or acoustical signals around the working range of the robot.
  • the trajectory of the robot, at least the movement path and/or the movement speed, is adaptively influenced during execution of the robot program by the processed second data, so that a person near the robot is safe. Human robot collaboration is enabled in this way.
  • a robot program is a sequence of different commands to the robot, containing both the movement path as well as the movement speed.
  • the parameters of such a program such as coordinates or speed, are also described as variables within the program.
  • a variable is easily influenceable by a multiplication factor, for example when changing movement speed, or by an offset, for example when shifting the movement path.
  • An adaptive influence on the trajectory causes for example a reduction of the movement speed of the robot to a safe speed dependent on the actual distance of the person to the robot and also dependent on the fact, whether an interaction of the person with the robot is expected according to the robot program in this moment or not. Also a simultaneous changed movement of the robot avoids a collision with the person, which unexpectedly moves too close to the robot.
  • the control system provides the possibility to alternatively change in-between the receiving and processing of first information and second information. Hence it is possible in an advantageous way to easily change between autonomous operation and human robot collaboration of the robot. Both alternatives can be considered as a respective operational mode of the control system respectively the robot.
  • the alternative, whether the first or the second information are to be received and processed, is selectable by a switching device at the control system or an input device connected therewith.
  • Such a switching device is for example an external mechanical selection switch mounted at the chassis of the control system respectively the robot controller or at a teach pendant of the robot.
  • an enhanced mode switch of the robot for example with at least the modes “manual”, “automatic” and “human robot collaboration” is in the scope of the invention, whereas a man skilled in the art knows the "manual mode” for purposes of programming the robot and the “automatic mode” for autonomous operation of the robot.
  • a mode selection by a switching device causes a bundle of effects, which are needed to bring the robot from one mode to the other, for example a warning light, when the robot is in "human robot collaboration mode".
  • a mode selection is alternatively also possible for example by setting an internal software-flag or software-function or by applying a mode signal to a dedicated input of the control system.
  • the second information is based on optical, acoustical, thermal and/or force measurements.
  • Suitable sensors or cameras have to be placed on the robot itself or within or near its working range. It is useful to have for example at least one optical and at least one acoustical sensor as basis for the second information.
  • the quality of the processed second information can become increased for example by a continuous automated cross check and evaluation of a time-coincidence factor of several different measurement signals.
  • a time coincidence of an optically measured very low distance from a person to the robot together with an increased force of the robot drives is an indicator, that a collision between robot and person has happened and the movement must be stopped or the speed has to be decreased.
  • time coincidence can be fulfilled within ⁇ 1ms as well as for example ⁇ 300ms.
  • the second information is fed to the control system in real-time and the processing of this information is done several times in intervals, for example every 0,01 ms or every 1ms or respectively every 50ms or higher.
  • a low time interval also enables a higher movement speed of the robot, since the distance that the robot moves within a small time interval is smaller as well.
  • second information comprises pre-processed information of a person near or within the working range of the robot, such as a length, a height, a position, a distance, a movement speed, an interpreted speech, an interpreted gesture or an interpreted posture.
  • Some geometrical values are either measurable directly with a sensor, such as an ultrasonic distance sensor, others require certain effort for interpretation, for example the analysis of 3D picture from at least two different cameras.
  • the interpretation can be done either by the pre-processing system, which is connected to the cameras or by a pre-processing means which is integrated into the cameras.
  • the interpretation of a gesture of the person can be interpreted by a special data pre-processing system, in this case preferably using optical signals from some belonging cameras.
  • the interpretation leads into a person related value respectively information, which is in this case for example 'attention' and causes a slowing down of the robot movement.
  • the second information is pre-processed at least in part by the control system itself.
  • the number of computing units can be reduced by this.
  • first and second information are partly identical.
  • first information which can be a binary signal, whether a person is within the working range of the robot or not, can be used for example to crosscheck some second information, for example a 3D picture of the working range. The quality of the second information can be increased by this.
  • the adaptive influence on the predetermined trajectory of the robot causes at least in sections a change or shifting of the movement path of the trajectory.
  • the adaptive influence on the predetermined trajectory of the robot causes an operational halt, an operational resumption or a change of the movement speed of the robot.
  • the interpreted speech of the collaborating person is an example for an pre-processed information, which causes such an effect, like the verbal commands 'slow 1 , 'stop' or 'resume'.
  • the adaptive influence on the predetermined trajectory of the robot causes a repetition and/or skipping of at least a section of the trajectory, for example if the handing over of an object from the person to the robot has failed and the handing over movement of the robot is repeated once again.
  • the adaptive influence on the predetermined trajectory of the robot causes a change of the sequence of at least two sections of the trajectory. This is useful for example, if each section of the trajectory is related to a working step and the sequence of doing those steps is absolutely not of importance. If the processing system recognizes, that the person makes a lot of movements to fulfil some working steps, an automated analysis will create another sequence of those working steps, which might cause a reduced overall movement of the worker doing those working steps. Such an analysis is preferably done within the processing system, but also a separate data processing unit might be used for it.
  • the processing and/or preprocessing of the second information comprise the use of a decision matrix and/or artificial intelligence, such as artificial neural networks or expert systems.
  • artificial intelligence is a known technique for example for the recognition of voices and or pictures or patterns.
  • the problem is also solved by a method for controlling a robot, whereas a robot program is determining at least one trajectory of the robot by a given movement path and by a given movement speed, whereas a control system is repeatedly receiving and processing safety-relevant first information of a person near or within the working range of the robot, whereas the processed first information is causing either an emergency stop or a protective stop of the robot or no reaction in the execution of the robot program.
  • the method is characterized in that the control system is alternatively receiving and processing safety-relevant second information of a person near or within the working range of the robot, whereas the second processed information is adaptively influencing the trajectory of the robot and is ensuring the safety of the person during the execution of the robot program.
  • the repeatedly receiving and processing of data can be done for example in continuous time intervals of 0,01 to 10ms or even more.
  • Fig. 1 shows a first control system with robot and person in work cell
  • Fig. 2 shows a second control system with robot
  • Figure 1 shows a first control system 18 with a first robot 16 and a person 12 in a work cell 14.
  • the work cell 14 is accessible over a door 50.
  • a light barrier 48 is provided to detect any person 12 entering the working area of the robot 12.
  • a control system 18 is connected with a bidirectional fifth data connection 44 to the robot 16.
  • the control system comprises also electrical amplifiers for supplying the drives of the different axes of the robot 18, whereas a typical robot comprises 5 - 7 axes.
  • Data over the fifth data connection 44 comprise as well control signals as the output signals of the amplifiers.
  • the control system 18 receives and processes first information 46 from the light barrier 48. Whenever the light barrier 12 is intermitted, a belonging binary signal is given to the control system 18. In the case, that the robot 16 is in the automatic mode, which means fully autonomous operation of the robot 16 and no collaborative task with a person 12, an interruption of the light barrier 48 causes an emergency stop of the robot 16 - every movement is immediately stopped to ensure the safety of a person, which might have entered the working are of the robot.
  • the robot 16 and the control system 18 are also intended to be operated in a human robot collaboration mode, whereas the robot and a person perform a collaborative task.
  • the selection, which mode has to be operated, can be done with a switching device, which is integrated in the input device 54 - normally a teach pendant of the robot.
  • the input device 54 is connected to the robot controller 18 with an input device connection cable 52.
  • the switch may also be integrated in the case of the controller 18 itself.
  • the controller receives and processes furthermore the second information 42. Also other functions are initiated by selecting the human robot collaboration mode, such as switching on a warning light in or in the near of the working cell.
  • the second information 42 which is now received and processed from the control system 18 is based on the measurement signals of several sensors, in this fig. from two cameras 22 and 26 and an ultrasonic sensor 30.
  • the control system 18 does not receive the measurement values themselves; the control system 18 receives pre-processed second information, which has been pre- processed by the first pre-processing system 20.
  • a pre-processing comprises for example the recognition of a voice and some commands out of the measurements of an acoustical sensor. Such recognition can be done with artificial neural networks.
  • Such a pre-processing might also comprise the determination of a distance of a. part of the robot to the person out of a 3D picture from the cameras 22 and 26, which are connected with the data connections 34 and 36 to the pre-processing system 20. But also recognition of a gesture or posture of a person 12 within the working range of the robot 16 can be part of a pre-processing.
  • an ultrasonic sensor 30 with a measuring area 32 is connected to the pre-processing system 20, which also could be connected directly to the control system 18.
  • the pre-processed information 42 received by the control system 18 contains information which can be related to a certain action. For example the spoken word "help” could cause a halt of the robot movement and the spoken word “continue” could cause a resumption of the robot movement. If the robot 16 performs his part of the collaborative task, where no human action is required, a too close distance of a person 12 to the robot 18 will for example cause a slowing down of the movement to ensure the safety. After finishing the collaborative task of the robot 18, it can easily be switched back to automatic mode with the switching device, which is integrated in the input device 54.
  • FIG. 2 shows a second control system 62 with second robot 68.
  • the control system 62 comprises a data processing means 66, where a robot program is stored.
  • the robot control signals 90 are sent to the second robot 68 with a cable.
  • the second robot 68 comprises the amplifier for its drives, so that only robot control signals are sent to the second robot 68.
  • Those signals comprise reference values for the current position dependent on time.
  • the second control system furthermore comprises a first 74 and a second 72 module of the processing system, which are provided for the processing of the received first information 82 and second information 83 and 84. Which information is to be received and processed is selectable with the switching device 92, which can be as well a hardware switch or a software switch.
  • the processing of the first information 84 can be an easy relation, such as 'if person went through light barrier then emergency stop'.
  • the processing of second informa- tion ⁇ can as well relative easy, such as 'if noise level of acoustical data 82 higher than reference value, then slow down' or more complex such as 'if pre-processed 83 optical signals 76, 78, 80 indicate, that a person 12 is too close to the robot 68 and will have a collision in 20 cm if all movements stay linear, then slow down and move back robot path by 20cm'.
  • expert systems are suitable to determine the relation between processed second information and adaptive influence on the trajectory.
  • a second pre-processing system 70 is provided to evaluate the first 76, second 78 and third 80 optical data information, which could be measurement signals from cameras.
  • the pre-processing system 20 can be an own data processing unit, it can be also integrated in the control system 62 itself. List of reference signs
  • first control system with robot and person in work cell person work cell first robot first control system first pre-processing system first optical sensor observation angle-of first optical sensor second optical sensor observation angle of second optical sensor ultrasonic sensor measuring area of ultrasonic sensor first data connection second data connection third data connection fourth data connection second information fifth data connection first information light barrier door input device connection input device second control system with robot second control system processing system data processing means second robot second pre-processing system second module of processing system first module of processing system 76 first optical data information

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L’invention concerne un système de commande (18, 62) conçu pour commander au moins un robot (16, 68), comprenant un moyen de traitement de données (66) dans lequel est mémorisé un programme de robot, le programme de robot définissant au moins une trajectoire du robot (16, 68) par un trajet de mouvement donné et une vitesse de mouvement donnée. Le système de commande (18, 62) est configuré pour recevoir et traiter des premières informations (46, 84) concernant la sécurité d’un processus relatives à une personne (12) se trouvant à portée ou sensiblement à portée du robot (16, 68). Les premières informations traitées (88) donnent lieu à un arrêt d’urgence ou de protection du robot (16, 68) ou n’occasionnent aucune réaction au cours de l’exécution du programme de robot. Le système de commande (18, 62) est configuré pour recevoir et traiter en alternance des secondes informations (42, 76, 78, 80, 82, 83) concernant la sécurité d’un processus relatives à une personne (12) se trouvant à portée ou sensiblement à portée du robot (16, 68), les secondes informations traitées (86) produisant un effet adaptatif sur la trajectoire du robot (16, 68), de manière à garantir la sécurité de la personne (12) au cours de l’exécution du programme de robot. L’invention concerne également un procédé de commande associé.
PCT/EP2008/005205 2008-06-26 2008-06-26 Système de commande et procédé de commande WO2009155947A1 (fr)

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PCT/EP2008/005205 WO2009155947A1 (fr) 2008-06-26 2008-06-26 Système de commande et procédé de commande

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Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITRM20100104A1 (it) * 2010-03-11 2011-09-12 Uni Politecnica Delle March E Apparecchiatura per la gestione di un sistema di controllo di un macchinario dotato di una parte mobile provvista di almeno un sensore di prossimità e contatto
DE102010017857A1 (de) * 2010-04-22 2011-10-27 Sick Ag 3D-Sicherheitsvorrichtung und Verfahren zur Absicherung und Bedienung mindestens einer Maschine
WO2012080130A1 (fr) * 2010-12-16 2012-06-21 Robert Bosch Gmbh Dispositif de sécurité pour un manipulateur, en particulier un robot industriel, et procédé pour faire fonctionner le dispositif de sécurité
WO2012166628A1 (fr) * 2011-05-27 2012-12-06 Illinois Tool Works Inc. Système et procédé de surveillance, de commande et d'amélioration de la productivité et des conditions de sécurité de machines automatisées
EP2392434A3 (fr) * 2010-06-07 2013-05-22 KUKA Laboratories GmbH Commande de robot
CN103302658A (zh) * 2012-03-16 2013-09-18 株式会社安川电机 机器人系统
DE202013104860U1 (de) 2013-10-30 2015-02-02 Daimler Ag Arbeitsvorrichtung
US9043025B2 (en) 2012-08-31 2015-05-26 Rethink Robotics, Inc. Systems and methods for safe robot operation
US20150199106A1 (en) * 2014-01-14 2015-07-16 Caterpillar Inc. Augmented Reality Display System
DE102014114234A1 (de) * 2014-09-30 2016-03-31 Kastanienbaum GmbH Verfahren und Vorrichtung zur Steuerung/Regelung eines Roboter-Manipulators
JP2017080845A (ja) * 2015-10-28 2017-05-18 株式会社デンソーウェーブ ロボット制御システム
EP3473387A1 (fr) * 2017-10-20 2019-04-24 ABB Schweiz AG Système de supervision de robot
JP2021091057A (ja) * 2019-12-12 2021-06-17 株式会社Ｆｕｊｉ 閉じ込め防止システム
GB2595289A (en) * 2020-05-21 2021-11-24 Bae Systems Plc Collaborative robot system
DE102013203547B4 (de) 2013-03-01 2022-08-11 Robert Bosch Gmbh Roboterarbeitsplatzanordnung und Verfahren zum Betreiben der Roboterarbeitsplatzanordnung

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Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITRM20100104A1 (it) * 2010-03-11 2011-09-12 Uni Politecnica Delle March E Apparecchiatura per la gestione di un sistema di controllo di un macchinario dotato di una parte mobile provvista di almeno un sensore di prossimità e contatto
DE102010017857A1 (de) * 2010-04-22 2011-10-27 Sick Ag 3D-Sicherheitsvorrichtung und Verfahren zur Absicherung und Bedienung mindestens einer Maschine
EP2380709A3 (fr) * 2010-04-22 2013-06-19 Sick AG Dispositif de sécurité 3D et procédé de sécurisation et de commande d'au moins une machine
DE102010017857B4 (de) 2010-04-22 2019-08-08 Sick Ag 3D-Sicherheitsvorrichtung und Verfahren zur Absicherung und Bedienung mindestens einer Maschine
EP2392434A3 (fr) * 2010-06-07 2013-05-22 KUKA Laboratories GmbH Commande de robot
WO2012080130A1 (fr) * 2010-12-16 2012-06-21 Robert Bosch Gmbh Dispositif de sécurité pour un manipulateur, en particulier un robot industriel, et procédé pour faire fonctionner le dispositif de sécurité
US9475200B2 (en) 2010-12-16 2016-10-25 Robert Bosch Gmbh Safety device for a handling apparatus, in particular an industrial robot, and method for operating the safety device
WO2012166628A1 (fr) * 2011-05-27 2012-12-06 Illinois Tool Works Inc. Système et procédé de surveillance, de commande et d'amélioration de la productivité et des conditions de sécurité de machines automatisées
US8816872B2 (en) 2011-05-27 2014-08-26 Signode Industrial Group Llc System and method for monitoring, controlling, and improving productivity and safety conditions of automated machinery
US8989900B2 (en) 2012-03-16 2015-03-24 Kabushiki Kaisha Yaskawa Denki Robot system
EP2639019A1 (fr) * 2012-03-16 2013-09-18 Kabushiki Kaisha Yaskawa Denki Système de robot
CN103302658A (zh) * 2012-03-16 2013-09-18 株式会社安川电机 机器人系统
US9043025B2 (en) 2012-08-31 2015-05-26 Rethink Robotics, Inc. Systems and methods for safe robot operation
DE102013203547B4 (de) 2013-03-01 2022-08-11 Robert Bosch Gmbh Roboterarbeitsplatzanordnung und Verfahren zum Betreiben der Roboterarbeitsplatzanordnung
DE202013104860U1 (de) 2013-10-30 2015-02-02 Daimler Ag Arbeitsvorrichtung
US20150199106A1 (en) * 2014-01-14 2015-07-16 Caterpillar Inc. Augmented Reality Display System
DE102014114234A1 (de) * 2014-09-30 2016-03-31 Kastanienbaum GmbH Verfahren und Vorrichtung zur Steuerung/Regelung eines Roboter-Manipulators
DE102014114234B4 (de) * 2014-09-30 2020-06-25 Kastanienbaum GmbH Verfahren und Vorrichtung zur Steuerung/Regelung eines Roboter-Manipulators
JP2017080845A (ja) * 2015-10-28 2017-05-18 株式会社デンソーウェーブ ロボット制御システム
EP3473387A1 (fr) * 2017-10-20 2019-04-24 ABB Schweiz AG Système de supervision de robot
JP2021091057A (ja) * 2019-12-12 2021-06-17 株式会社Ｆｕｊｉ 閉じ込め防止システム
JP7359679B2 (ja) 2019-12-12 2023-10-11 株式会社Fuji 閉じ込め防止システム
GB2595289A (en) * 2020-05-21 2021-11-24 Bae Systems Plc Collaborative robot system

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