WO2011051285A1 - Système et procédé pour créer une interaction entre une personne et une machine - Google Patents

Système et procédé pour créer une interaction entre une personne et une machine Download PDF

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Publication number
WO2011051285A1
WO2011051285A1 PCT/EP2010/066163 EP2010066163W WO2011051285A1 WO 2011051285 A1 WO2011051285 A1 WO 2011051285A1 EP 2010066163 W EP2010066163 W EP 2010066163W WO 2011051285 A1 WO2011051285 A1 WO 2011051285A1
Authority
WO
WIPO (PCT)
Prior art keywords
person
machine
marking means
detected
movement
Prior art date
Application number
PCT/EP2010/066163
Other languages
German (de)
English (en)
Inventor
Javier Massanell
Thomas May
Original Assignee
Ifm Electronic Gmbh
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 Ifm Electronic Gmbh filed Critical Ifm Electronic Gmbh
Publication of WO2011051285A1 publication Critical patent/WO2011051285A1/fr

Links

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
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39387—Reflex control, follow movement, track face, work, hand, visual servoing
    • 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
    • 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
    • G05B2219/40203—Detect position of operator, create non material barrier to protect operator
    • 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
    • G05B2219/40617—Agile eye, control position of camera, active vision, pan-tilt camera, follow object

Definitions

  • the invention relates to a system and a method for interaction
  • a machine in particular a robot, in which marking means are arranged on the person at certain positions and can be detected by means of a 3D TOF camera.
  • the machine is controlled by a control unit so that the recognized person is not endangered in their safety.
  • Robot unit at a robot workstation known in which the
  • Approaching a person is monitored using two safety thresholds.
  • a first sensor unit an approach of a person to the workplace is detected such that at a
  • a first signal Falling below a first safety distance, a first signal and a falling below a second safety distance, a second signal is generated.
  • the first signal it is provided to transfer the robot unit in a predefinable state to a so-called safe operating stop.
  • the second signal is present, the robot unit is transferred to a so-called emergency stop state, in which the robot unit remains motionless in its current position.
  • an additional safety switch is arranged at the workstation of the robot unit, which transfers the robot unit into the state of safe operating stop.
  • the robot unit is impressed on relative approach to humans, a movement pattern that is determined by the direction of movement, movement speed and the distance of the Characterizes robot unit relative to humans. From a variety of different stored patterns of movement a man individual movement pattern is selected so that the people a sense of safety at work and control over the
  • Each movement pattern is present at least in a first and second quality level, for example, in their movement speed and / or movement direction
  • the robot unit is braked or brought to a standstill until a
  • Runtime measurement systems These use amplitude modulated or pulsed illumination to illuminate the area to be detected
  • 3D TOF cameras are in particular PMD cameras with
  • Photonic mixer (PMD) suitable as u.a. in the applications, EP 1 777 747, US 6 587 186 and also DE 197 04 496 described and, for example, by the company, ifm electronic gmbh 'as a frame grabber O3D are available.
  • the PMD camera allows a flexible arrangement of the light source and the detector, which can be arranged both in a housing and separately.
  • the object of the invention is to further form a system with a 3D TOF camera for an interaction system between a person and a machine.
  • the system according to the invention provides for an interaction
  • At least one 3D TOF camera is used for
  • a model of the person is created and a position and a movement of the person are detected and / or predetermined.
  • the machine is controlled via a control unit such that in a safety-critical position and / or movement of the person, the person is not further endangered.
  • the marking means as reflectors
  • the marking agent can be clearly and reliably distinguished from the background.
  • a reflector which is arranged on the head of the person, have a different optical property than the reflectors which are arranged on the shoulder or on the hand.
  • Reference marks in particular reflectors to provide.
  • the location and spacing of these reference marks are known with respect to at least one 3D TOF camera, so on the basis of these reference marks
  • the person interacting with the machine is detected in its position and movement by marking means which are arranged at certain points of the person, whereby a model of the person is first determined on the basis of the detected marking means, on the basis of which the others
  • the method can be further improved by first before the interaction of the person with the machine in a startup phase
  • Marking the person are recorded. This can ensure that a suitable model for the further calculations can be deposited for the person.
  • Starting phase takes certain positions and / or performs certain gestures. This ensures, for example, that all points of the person's joints are recognized and a maximum range of motion of the person is detected.
  • the interaction with the machine is only released if all expected marking means were clearly identified in the startup phase.
  • it is provided to control the machine in a recognized or predicted safety critical position and / or movement of the person so that a risk to the person is excluded.
  • Fig. 1 shows schematically a system according to the invention
  • FIG. 2 shows a machine working area with a cooperating person
  • FIG. 3 shows a cooperating person within an interaction area
  • FIG. 4 shows a cooperating person outside the interaction area in the start phase.
  • FIG. 1 shows a measurement situation for an optical distance measurement with a 3D TOF camera system, as is known, for example, from DE 197 04 496.
  • the 3D TOF camera system here comprises a transmitting unit or a
  • Illumination module 100 with a light source 12 and associated beam shaping optics 50 and a receiving unit or 3 D-TO F camera 200 with a receiving optics 150 and a photosensor 15.
  • Photosensor 15 is preferably as a pixel array, in particular as
  • the receiving optics typically consist of improving the imaging properties of a plurality of optical elements.
  • the beam-shaping optical system 50 of the transmitting unit 100 is preferably designed as a reflector. However, it can also diffractive elements or combinations of reflective and diffractive
  • the measuring principle of this arrangement is essentially based on that, starting from the phase difference of the emitted and received light, the duration of the emitted and reflected light can be determined.
  • Modulation frequency applied to a first phase position a is Modulation frequency applied to a first phase position a.
  • the light source 12 transmits an amplitude-modulated signal having the phase a.
  • this signal or the electromagnetic radiation is reflected by an object 20 and hits due to the distance covered in the photosensor 15, the signal of the first phase position a of the modulator 18 with the received signal, which has meanwhile assumed a second phase position b, mixed and from the
  • resulting signal determines the phase shift or the object distance.
  • FIG. 2 schematically shows a machine workstation with a robot 30 and a cooperating person 300.
  • the robot 30 is here as a gripper or tool robot with multiple articulated arms 32 and
  • Joints 33 configured. Between the person 300 and the robot 30 is a workstation 500, which is preferably used cooperatively by the person 300 and the robot 30 together. The entire situation in which the robot 30 and the person 300 are located is detected by a 3D TOF camera 10. For better recognition of the
  • the situation captured by the 3D TOF camera is determined by using a
  • Evaluation unit or image processing 210 processed and evaluated in particular with regard to position and movement of the person 300.
  • the data of the evaluation unit 210 are preferably made available to a control unit 35 of the robot 30. Based on the position, movement and position data of the person 300 may in relation to the known position and movement plans of the robot a
  • the maximum speed of the robot is selected so that it comes to a standstill within a predetermined safety limit in case of danger.
  • the speed of the robot is reduced as the distance of the person 300 from the robot 30 decreases.
  • FIG. 3 schematically shows the interactive situation in a plan view.
  • three 3D TOF cameras 10 are provided in this embodiment, the within their coverage area E the
  • Interaction area I of the machine 30 is spanned primarily by the maximum movement possibilities of the robot and, of course, not only comprises a two-dimensional plane, but also a corresponding volume area.
  • the person 300 is at the machine workstation 500 and, for example, can cooperatively provide the work equipment 510 located on the workstation 500 to the robot 30.
  • 500 are in a peripheral area on the workstation
  • Reference marks 250 arranged. Place and distance of this
  • Reference marks are in relation to at least one
  • Reference mark for example, a 3D model of a 3D TOF camera can be calibrated.
  • the 3D model of a 3D TOF camera can be calibrated.
  • Reference marks 250 may be formed, for example, as a reflection strip. Of course, the reference marks 250 can also be formed without special reflection properties, it is decisive that these markings 250 can be clearly detected by at least one 3D TOF camera 10.
  • reference marks 250 may be in other locations the detection range E are arranged, in particular it is also conceivable that the reference marks 250 at the boundary of
  • Interaction area I are arranged. So that both location and position as well as a border of the interaction area I are marked.
  • FIG. 4 shows a possible starting phase of that shown in FIG.
  • the person 300 is in a predetermined starting position SP.
  • This start position is preferably located outside the interaction area, so that in this phase first no potential danger emanates from the machine 30.
  • the person 300 before the start of an interaction with the system in the
  • Starting position SP can be seen.
  • the person assumes a particular posture or gesture to facilitate recognition of the markers to the system or to improve the reliability of the recognition.
  • it may also be provided to take multiple positions or gestures.
  • Marking agents are marked, can cooperatively interact with the machine. Unauthorized persons or
  • Unknown objects are classified as a precautionary safety risk.

Landscapes

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

Abstract

Système pour créer une interaction entre une personne et une machine, notamment un robot, comprenant : des moyens de marquage qui sont disposés sur la personne à des emplacements déterminés, de préférence à des emplacements terminaux d'extrémités ou d'articulations; au moins une caméra 3D de mesure de temps de vol pour la détection en 3D de la zone d'interaction et la détection des moyens de marquage; une unité d'évaluation conçue de façon à créer un modèle de la personne à partir des moyens de marquage détectés et à détecter et/ou prédéterminer une position et un déplacement de la personne; une unité de commande qui commande la machine de sorte que la personne ne soit pas exposée à un danger lorsqu'elle se trouve dans une position et/ou effectue un mouvement critique pour la sécurité.
PCT/EP2010/066163 2009-10-28 2010-10-26 Système et procédé pour créer une interaction entre une personne et une machine WO2011051285A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009046107.8 2009-10-28
DE200910046107 DE102009046107A1 (de) 2009-10-28 2009-10-28 System und Verfahren für eine Interaktion zwischen einer Person und einer Maschine

Publications (1)

Publication Number Publication Date
WO2011051285A1 true WO2011051285A1 (fr) 2011-05-05

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PCT/EP2010/066163 WO2011051285A1 (fr) 2009-10-28 2010-10-26 Système et procédé pour créer une interaction entre une personne et une machine

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DE (1) DE102009046107A1 (fr)
WO (1) WO2011051285A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103345064A (zh) * 2013-07-16 2013-10-09 卫荣杰 一种集成3d识别的帽子及帽子的3d识别方法
WO2015121073A1 (fr) * 2014-02-14 2015-08-20 Holzma Plattenaufteiltechnik Gmbh Procédé pour faire fonctionner une machine, en particulier une installation de division de panneaux, et machine pour la mise en oeuvre d'un tel procédé
JP2015526309A (ja) * 2012-08-31 2015-09-10 リシンク ロボティクス インコーポレイテッド 安全ロボット動作のためのシステムおよび方法
CN107932560A (zh) * 2017-11-14 2018-04-20 上海交通大学 一种人机安全防护系统和防护方法

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DE102010002250B4 (de) 2010-02-23 2022-01-20 pmdtechnologies ag Überwachungssystem
DE112012005650B4 (de) * 2012-01-13 2018-01-25 Mitsubishi Electric Corporation Risikomesssystem
DE102012007242A1 (de) * 2012-03-09 2013-09-12 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung und Verfahren zur sicheren Mensch-Roboter-Kooperation
DE202014100411U1 (de) 2014-01-30 2015-05-05 Kuka Systems Gmbh Sicherheitseinrichtung
DE102014210362A1 (de) * 2014-06-02 2015-12-03 Kuka Systems Gmbh MRK-Arbeitsplatz mit einer Aufspannvorrichtung
DE102015225587A1 (de) 2015-12-17 2017-06-22 Volkswagen Aktiengesellschaft Interaktionssystem und Verfahren zur Interaktion zwischen einer Person und mindestens einer Robotereinheit
DE102016200455A1 (de) * 2016-01-15 2017-07-20 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Sicherheitsvorrichtung und -verfahren zum sicheren Betrieb eines Roboters
DE102016004902A1 (de) * 2016-04-22 2017-10-26 Kuka Roboter Gmbh Überwachung eines Roboters
DE102016007519A1 (de) * 2016-06-20 2017-12-21 Kuka Roboter Gmbh Überwachung einer Anlage mit wenigstens einem Roboter
DE102016007520A1 (de) * 2016-06-20 2017-12-21 Kuka Roboter Gmbh Überwachung einer Roboteranordnung
JP6487489B2 (ja) * 2017-05-11 2019-03-20 ファナック株式会社 ロボット制御装置及びロボット制御プログラム
DE102018108445B3 (de) 2018-04-10 2019-08-01 Ifm Electronic Gmbh Verfahren zum Programmieren eines Fertigungsschritts für einen Industrieroboter
DE102019211770B3 (de) * 2019-08-06 2020-09-03 BIBA - Bremer Institut für Produktion und Logistik GmbH Verfahren zur rechnergestützten Erfassung und Auswertung eines Arbeitsablaufs, bei dem ein menschlicher Werker und ein robotisches System wechselwirken
DE102019128782B4 (de) * 2019-10-24 2022-06-09 Sick Ag Bewegbare Maschine mit einem Sicherheitssystem, mit einer Sicherheitssteuerung, mit einem Lokalisierungssystem, mit einem Entfernungssensor und mit einer Konturerkennungseinheit
DE102022116026A1 (de) 2022-06-28 2023-12-28 Blickfeld GmbH Mobiles überwachungssystem

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DE19704496A1 (de) 1996-09-05 1998-03-12 Rudolf Prof Dr Ing Schwarte Verfahren und Vorrichtung zur Bestimmung der Phasen- und/oder Amplitudeninformation einer elektromagnetischen Welle
US6587186B2 (en) 2000-06-06 2003-07-01 Canesta, Inc. CMOS-compatible three-dimensional image sensing using reduced peak energy
DE10320343A1 (de) * 2003-05-07 2004-12-02 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Verfahren zur überwachten Kooperation zwischen einer Robotereinheit und einem Menschen
DE102004030144A1 (de) * 2004-06-22 2006-01-12 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung und Verfahren zur Nahbereichsdetektion um eine Robotereinheit
DE102005003827A1 (de) * 2005-01-26 2006-07-27 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung und Verfahren zur Interaktion zwischen einem Menschen und einer Robotereinheit an einem Roboterarbeitsplatz
EP1777747A1 (fr) 2005-10-19 2007-04-25 CSEM Centre Suisse d'Electronique et de Microtechnique SA Méthode et appareil pour la démodulation de champs d'ondes électromagnétiques modulées
WO2008014831A2 (fr) * 2006-08-02 2008-02-07 Pilz Gmbh & Co. Kg Procédé pour observer une personne dans un environnement industriel
EP1914609A1 (fr) * 2006-10-18 2008-04-23 Sick Ag Interrupteur de sécurité comportant des moyens pour determiner sa position
WO2009049995A1 (fr) * 2007-10-10 2009-04-23 Polysius Ag Système de laboratoire doté d'un dispositif de transport d'échantillons et d'un système de surveillance servant à respecter une distance de sécurité

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Publication number Priority date Publication date Assignee Title
DE19704496A1 (de) 1996-09-05 1998-03-12 Rudolf Prof Dr Ing Schwarte Verfahren und Vorrichtung zur Bestimmung der Phasen- und/oder Amplitudeninformation einer elektromagnetischen Welle
US6587186B2 (en) 2000-06-06 2003-07-01 Canesta, Inc. CMOS-compatible three-dimensional image sensing using reduced peak energy
DE10320343A1 (de) * 2003-05-07 2004-12-02 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Verfahren zur überwachten Kooperation zwischen einer Robotereinheit und einem Menschen
DE10320343B4 (de) 2003-05-07 2008-05-21 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Verfahren zur überwachten Kooperation zwischen einer Robotereinheit und einem Menschen
DE102004030144A1 (de) * 2004-06-22 2006-01-12 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung und Verfahren zur Nahbereichsdetektion um eine Robotereinheit
DE102005003827A1 (de) * 2005-01-26 2006-07-27 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung und Verfahren zur Interaktion zwischen einem Menschen und einer Robotereinheit an einem Roboterarbeitsplatz
DE102005003827B4 (de) 2005-01-26 2007-01-04 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung und Verfahren zur Interaktion zwischen einem Menschen und einer Robotereinheit an einem Roboterarbeitsplatz
EP1777747A1 (fr) 2005-10-19 2007-04-25 CSEM Centre Suisse d'Electronique et de Microtechnique SA Méthode et appareil pour la démodulation de champs d'ondes électromagnétiques modulées
WO2008014831A2 (fr) * 2006-08-02 2008-02-07 Pilz Gmbh & Co. Kg Procédé pour observer une personne dans un environnement industriel
EP1914609A1 (fr) * 2006-10-18 2008-04-23 Sick Ag Interrupteur de sécurité comportant des moyens pour determiner sa position
WO2009049995A1 (fr) * 2007-10-10 2009-04-23 Polysius Ag Système de laboratoire doté d'un dispositif de transport d'échantillons et d'un système de surveillance servant à respecter une distance de sécurité

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015526309A (ja) * 2012-08-31 2015-09-10 リシンク ロボティクス インコーポレイテッド 安全ロボット動作のためのシステムおよび方法
CN103345064A (zh) * 2013-07-16 2013-10-09 卫荣杰 一种集成3d识别的帽子及帽子的3d识别方法
WO2015121073A1 (fr) * 2014-02-14 2015-08-20 Holzma Plattenaufteiltechnik Gmbh Procédé pour faire fonctionner une machine, en particulier une installation de division de panneaux, et machine pour la mise en oeuvre d'un tel procédé
CN107932560A (zh) * 2017-11-14 2018-04-20 上海交通大学 一种人机安全防护系统和防护方法
CN107932560B (zh) * 2017-11-14 2021-04-27 上海交通大学 一种人机安全防护系统和防护方法

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