WO2018018574A1 - 人员保护系统及其运行方法 - Google Patents

人员保护系统及其运行方法 Download PDF

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Publication number
WO2018018574A1
WO2018018574A1 PCT/CN2016/092206 CN2016092206W WO2018018574A1 WO 2018018574 A1 WO2018018574 A1 WO 2018018574A1 CN 2016092206 W CN2016092206 W CN 2016092206W WO 2018018574 A1 WO2018018574 A1 WO 2018018574A1
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WIPO (PCT)
Prior art keywords
real
time
distance
operating mechanism
worker
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PCT/CN2016/092206
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English (en)
French (fr)
Inventor
张明亮
于华俊
卜·帕特里克
王志松
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罗伯特·博世有限公司
张明亮
于华俊
卜·帕特里克
王志松
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Application filed by 罗伯特·博世有限公司, 张明亮, 于华俊, 卜·帕特里克, 王志松 filed Critical 罗伯特·博世有限公司
Priority to CN201680088078.0A priority Critical patent/CN109937119B/zh
Priority to PCT/CN2016/092206 priority patent/WO2018018574A1/zh
Publication of WO2018018574A1 publication Critical patent/WO2018018574A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

Definitions

  • the invention relates to a personal protection system and a method for operating the personal protection system.
  • Dynamic personnel protection on the one hand, ensures the personal safety of the staff and on the other hand minimizes unnecessary deceleration or downtime of the industrial equipment.
  • the present invention provides a personal protection system for avoiding collisions between industrial equipment and workers in a shop floor having at least one operating mechanism capable of moving in one or more degrees of freedom.
  • the personnel protection system comprises a positioning and motion information obtaining subsystem and a control subsystem, wherein the positioning and motion information obtaining subsystem detects or obtains an operating mechanism of each industrial device and a real-time position of each worker And real-time motion information, the control subsystem is based on the real-time location to obtain real-time distance between various industrial equipment and workers, based on the operating mechanism of each industrial equipment and the geometry of the staff
  • the structural parameters and the real-time motion information determine a real-time warning distance and a real-time safety critical distance, and take corresponding safety measures when the real-time distance is less than or equal to the real-time warning distance and the real-time safety critical distance, respectively.
  • the industrial device is constructed as an industrial robot with walking capability.
  • the positioning and motion information obtaining subsystem comprises a positioning transmitter, a receiver and a processing unit, wherein at least two are disposed on each operating mechanism of each industrial device, Preferably exactly two positioning transmitters are present, and each worker wears at least two, preferably exactly two, positioning transmitters configured to actively transmit signals consisting of multiples placed in the shop floor scene Received by the receiver and transmitted by the receiver to the processing unit, the processing unit ascertaining the real-time position of each of the positioning transmitters based on the signals received by the receiver and determining the real-time position and positioning transmitter according to the A predetermined layout on each operator or each operating mechanism of each industrial device seeks real-time motion information from the operator of the relevant worker or industrial equipment.
  • the real-time motion information relates to a direction of motion, a speed of motion, and an acceleration of motion.
  • the real-time position and the real-time motion information relate to position and motion information in a two-dimensional plane or to position and motion information in a three-dimensional space.
  • the positioning and motion information obtaining subsystem further comprises one or more motion sensors.
  • the motion sensor is an inertial sensor capable of detecting real-time motion information such as motion direction, motion speed, and motion acceleration.
  • the motion information determined based on the signal of the positioning transmitter is plausibly verified or corrected based on the motion information detected by the motion sensor.
  • control subsystem includes a security control module for operating an operating mechanism of each industrial device based on the positioning and motion information obtaining subsystem.
  • the real-time position of the staff to obtain the real-time distance between the operating mechanism and the staff of each industrial equipment, as well as the geometrical parameters of the operating mechanism and the staff based on the respective industrial equipment, and the subsystem for obtaining the positioning and motion information Real-time motion letter
  • the real-time warning distance and the real-time safety critical distance between the operating mechanism and the worker of each industrial device are generated, wherein the real-time warning distance is greater than the real-time safety critical distance.
  • the security control module generates based on the operating mechanism of the industrial equipment and the geometric parameters of the worker and the real-time motion information obtained by the positioning and motion information obtaining subsystem. The minimum distance of collision between the operating mechanism and the worker of the industrial equipment can be avoided and the real-time safety critical distance and the real-time warning distance can be determined based on the minimum distance.
  • the real-time safety critical distance is determined to be 0.5 meters larger than the minimum distance, preferably 0.75 meters larger, more preferably 1 meter larger, or determined to be any other suitable distance according to the application, and the real-time warning distance is determined as It is 0.5 m larger than the implementation safety critical distance, preferably 0.75 m larger, more preferably 1 m larger or determined to be any other suitable distance depending on the application.
  • the security control module may also consider the reaction time of the system, the reaction time of the person, and/or the positioning by the real-time warning distance and the real-time safety critical distance.
  • the security control module is further configured to adopt corresponding security measures when the real-time distance is less than or equal to the real-time warning distance and the real-time security critical distance, respectively, where When the real-time distance between the operating mechanism of the equipment and the worker is less than or equal to the real-time warning distance, the operating mechanism of the related industrial equipment is decelerated to a predefined warning speed, and the real-time distance between the operating mechanism of the industrial equipment and the worker When the real-time safety critical distance is less than or equal to the relevant industrial equipment, the related industrial equipment is completely stopped.
  • the warning module is configured to optically and through the wearable device of the worker when the real-time distance between the operating mechanism of the industrial device and the worker is less than or equal to the real-time warning distance. / or acoustically and / or vibrate to warn the relevant staff.
  • control subsystem further includes an online diagnostic module, the online diagnostic module is configured to diagnose an operating state of the control subsystem online and when an abnormality is detected in the control subsystem In the state, all industrial equipment is stopped.
  • the personnel protection system further includes a configuration and monitoring subsystem, wherein the configuration and monitoring subsystem includes an offline configuration module and a visualization module. And an access control module, wherein the offline configuration module is configured to perform configuration of the personnel protection system, the visualization module being configured to perform the above-described configuration and a visualized user interface for monitoring an operational status of the personal protection system, wherein The access control module is configured to check whether the positioning transmitter and/or motion sensor has been worn by the worker before entering the workshop.
  • the positioning and motion information obtaining subsystem includes models of various industrial equipments and/or individual workers and can determine the operating mechanism of each industrial equipment and each work based on the model.
  • Real-time motion information of people may be a two-dimensional model or a three-dimensional model.
  • the invention also provides a method for operating a personal protection system according to the invention, the method comprising the steps of: in a first step, detecting or ascertaining the real-time position of an operating mechanism and a worker of each industrial device and Real-time motion information; in the second step, determining a real-time distance between an operating mechanism and a worker of each industrial device based on the real-time position; in the third step, based on the operating mechanism of each industrial device and the geometry of the worker Structural parameters and real-time motion information to generate real-time warning distances and real-time safety critical distances between operators and workers of various industrial equipment; in the fourth step, the real-time distance between the operating mechanism of the industrial equipment and the workers The generated real-time warning distance is compared with the real-time safety critical distance. If the real-time distance is less than or equal to the real-time warning distance and the real-time safety critical distance, respectively, corresponding safety measures are taken.
  • the third step firstly, based on the operating mechanism of each industrial device and the geometrical parameters of the worker and the real-time motion information, an operating mechanism and a staff member capable of avoiding the industrial equipment are generated.
  • the minimum distance between collisions is then determined based on the minimum distance to determine the real-time safety critical distance and the real-time warning distance.
  • the real-time safety critical distance is determined to be 0.5 meters larger than the minimum distance, preferably 0.75 meters larger, more preferably 1 meter larger, or determined to be any other suitable distance depending on the application.
  • the real-time warning distance is determined to be 0.5 meters larger than the real-time safety critical distance, preferably 0.75 meters larger, more preferably 1 meter larger, or determined to be any other suitable distance depending on the application.
  • the reaction time of the system, the reaction time of the person, and/or the real time may be additionally considered when generating the real-time warning distance and the real-time safety critical distance.
  • the fourth step if the operation of the industrial equipment If the real-time distance between the mechanism and the worker is less than or equal to the real-time warning distance, the operating mechanism of the relevant industrial equipment is decelerated to a predefined warning speed if the real-time distance between the operating mechanism of the industrial equipment and the worker is less than or equal to The real-time safety critical distance causes the relevant industrial equipment to completely stop running.
  • the relevant industrial equipment is The operating mechanism is accelerated to a predefined warning speed, and if the real-time distance between the operating mechanism of the industrial equipment and the worker continues to increase beyond the real-time warning distance, the associated industrial equipment is returned to normal operation.
  • a model of each industrial device and/or individual workers is established and an operating mechanism of each industrial device and real-time of each worker are obtained based on the model.
  • Sports information may be a two-dimensional model or a three-dimensional model.
  • the personnel protection system or the method for operating the personal protection system according to the invention enables dynamic personnel protection based on real-time data, avoiding unnecessary deceleration or downtime of industrial equipment as much as possible while ensuring worker safety ;
  • the personnel protection system according to the invention or the method for operating the personal protection system is particularly suitable for workshop scenarios where there is an industrial robot with walking capability;
  • the personal protection system or the method for operating the personal protection system according to the invention not only enables personal protection in the two-dimensional category but also enables personnel protection in the three-dimensional category.
  • FIG. 1 shows a schematic block diagram of a personal protection system 100 in accordance with the present invention.
  • FIG. 2 shows a schematic block diagram of a positioning and motion information extraction subsystem 101 in accordance with the present invention.
  • FIG. 3 shows a schematic block diagram of a configuration and monitoring subsystem 102 in accordance with the present invention.
  • FIG. 4 shows a schematic block diagram of a control subsystem 103 in accordance with the present invention.
  • FIG. 5 shows a schematic flow diagram of a method for operating a personal protection system 100 in accordance with the present invention.
  • FIG. 1 shows a schematic block diagram of a personal protection system 100 in accordance with the present invention.
  • the personal protection system is particularly useful for avoiding industrial equipment injuries (eg, collisions) of workers in a shop floor scenario where there is an industrial device that may cause injury to the worker.
  • the industrial device may be an industrial robot on an assembly line that primarily includes a base and one or more operating mechanisms that are positionally fixed relative to the ground, the operation The mechanism is mounted on the base and can be configured, for example, as a robotic arm that can move in at least one degree of freedom.
  • the industrial device may be an industrial robot with walking capability, which can, for example, be moved in a defined area by means of a wheel or foot or any other possible form of running gear and may also have a Or a plurality of operating mechanisms, which can be configured, for example, as mechanical arms that are movable in at least one degree of freedom.
  • the personnel protection system 100 includes a positioning and motion information extraction subsystem 101, a configuration and monitoring subsystem 102, and a control subsystem 103.
  • the positioning and motion information obtaining subsystem 101 is mainly used for detecting or ascertaining the operating mechanism of each industrial device in the workshop scene and the real-time position and real-time motion information of each worker.
  • the configuration and monitoring subsystem 102 is primarily used to configure the personnel protection system and to monitor the operational status of the personnel protection system.
  • the control subsystem 103 is mainly used to obtain real-time distance, real-time warning distance and real-time safety critical distance between the operating mechanism and the staff of each industrial equipment, and the real-time distance is less than or equal to the real-time warning distance and Take appropriate security measures when describing the real-time safety critical distance.
  • the positioning and motion information obtaining subsystem 101 may include, for example, a positioning transmitter 1011, a receiver 1012, and a processing unit 1013.
  • At least two positioning transmitters are respectively disposed on each (each) operating mechanism of each industrial device, and each worker wears at least two positioning transmitters respectively.
  • exactly two positioning transmitters are respectively disposed on each (each) operating mechanism of the industrial device, and the two positioning transmitters are disposed on a section between the two joints of the operating mechanism, wherein The distance between the two positioning transmitters and the position relative to the segments is always fixed.
  • each worker wears exactly two positioning transmitters, and the two positioning transmitters can be arranged, for example, on the left or right shoulder of the worker or any other suitable location for the application, wherein The distance between the positioning transmitters and the position relative to the locations is always fixed.
  • positioning transmitters actively transmit (broadcast) signals such as radio frequency (RF) signals, ultrasonic signals, infrared signals, and the like.
  • the positioning transmitter may also be referred to as a positioning tag or an electronic tag.
  • a plurality of fixed position receivers 1012 are provided within the shop floor, the receivers receiving signals transmitted by the respective positioning transmitters and transmitting the received signals to the processing unit 1013.
  • the processing unit 1013 is capable of ascertaining the real-time position of each of the positioning transmitters based on the signals received by the receiver. For example, processing unit 1013 can determine the real-time location of this positioning transmitter based on signals transmitted by one of the positioning transmitters received by at least three receivers.
  • the redundant arrangement of the at least two positioning transmitters on the one hand increases the stability of the system and on the other hand enables the processing unit 1013 to be based on the desired real-time position as well as by each worker or on each industrial device (per a predetermined layout of at least two positioning transmitters provided on the operating mechanism for obtaining real-time motion information of an operating mechanism of the relevant worker or industrial equipment.
  • the real-time motion information relates, for example, to a moving direction, a moving speed, a moving acceleration, and the like.
  • the real-time location and the real-time motion information may relate to location and motion information in a two-dimensional plane or may relate to location and motion information in a three-dimensional space.
  • the real-time direction of motion of a worker or an operating mechanism of an industrial device can be determined in real time directly based on the relative position of the positioned positioning transmitter (eg, two positioning transmitters) in space.
  • the real-time speed or acceleration of the operator or the operating mechanism of the industrial equipment can be determined based on the positional change of the positioning transmitter within the unit time.
  • the industrial equipment (including the set positioning transmitter) is modeled, and the real-time motion information of the operating mechanism of the industrial equipment is obtained based on the model of the industrial equipment, wherein the model may be a two-dimensional model or a three-dimensional model. model.
  • the worker (including the set positioning transmitter) is modeled, and the base
  • the staff's model is used to obtain real-time motion information of the staff, wherein the model may be a two-dimensional model or a three-dimensional model.
  • the positioning and motion information obtaining subsystem 101 may further include one or more motion sensors 1014, such as inertial sensors, that are capable of detecting desired motion information, such as motion direction, motion speed, and motion acceleration.
  • motion sensors 1014 such as inertial sensors, that are capable of detecting desired motion information, such as motion direction, motion speed, and motion acceleration.
  • the motion information obtained from the signal of the positioning transmitter can be plausibly verified or corrected based on the motion information detected by the motion sensor.
  • a positioning transmitter can be separately worn by each worker and a positioning transmitter can be respectively disposed on each (each) operating mechanism of the industrial device, wherein The real-time position is ascertained by the signal from the positioning transmitter and the motion information is provided by the motion sensor.
  • FIG. 3 shows a schematic block diagram of a configuration and monitoring subsystem 102 in accordance with the present invention.
  • the configuration and monitoring subsystem 102 includes an offline configuration module 1021, a visualization module 1022, and an access control module 1023.
  • the offline configuration module 1021 is configured to perform configuration of the personal protection system 100, for example, configuring parameters of a positioning transmitter, parameters of a receiver, parameters of a motion sensor, diagnostic verification parameters, pipeline parameters, parameters related to data processing Parameters of the industrial equipment or any other parameters required according to the application, wherein the parameters related to the data processing relate, for example, to amplifier parameters and filter parameters, etc., the parameters of the industrial equipment, for example, relate to the geometrical parameters of the operating mechanism of the industrial equipment, Set the scope of the activity, the maximum possible range of activities, and more.
  • the visualization module 1022 is configured as a visualized user interface for performing the configuration described above and monitoring the operational status of the personal protection system 100.
  • the access control module 1023 is configured to check whether a positioning transmitter and/or a motion sensor have been worn by a worker before entering the workshop.
  • the functionality of the access control module 1023 may also be integrated into the visualization module 1022.
  • the control subsystem 103 includes, for example, a security control module 1031, an online diagnostic module 1032, and a warning module 1033.
  • the security control module 1031 is configured to obtain a real-time distance between an operating mechanism and a worker of each industrial device, generate a real-time warning distance and a real-time safety critical distance between an operating mechanism and a worker of each industrial device, and Corresponding security measures are taken when the real-time distance is less than or equal to the warning distance or the real-time safety critical distance.
  • the security control module 1031 determines between the operating mechanism and the staff of each industrial device based on the real-time position data of the operating mechanism and the staff of each industrial device as determined by the positioning and motion information obtaining subsystem 101. Real-time distance.
  • the safety control module 1031 generates an operating mechanism and a work of each industrial device based on the operating mechanism of each industrial device and the geometrical parameters of the worker and the real-time motion information obtained by the positioning and motion information obtaining subsystem 101.
  • Real-time warning distance between personnel and real-time safety critical distance. The real-time warning distance is greater than the real-time safety critical distance.
  • the geometrical parameters of the operating mechanism of an industrial device relate to the longitudinal length of the operating mechanism, and in particular to the (maximum) distance between the positioning transmitter and the free end of the operating mechanism.
  • the geometry parameters of the worker relate, for example, to the arm length of the worker. It will be appreciated that the geometry of the operating mechanism or worker of the industrial equipment may also relate to any other geometrical parameters that are appropriate or required for the particular application.
  • a minimum distance capable of avoiding a collision between an operating mechanism and a worker of the industrial device is first generated based on the operating mechanism of the respective industrial equipment and the geometrical parameters of the worker and the real-time motion information, and then based on the The minimum distance is used to determine the real-time safety critical distance and the real-time warning distance.
  • the real-time safety critical distance is determined to be 0.5 meters larger than the minimum distance, preferably 0.75 meters larger, more preferably 1 meter larger, or determined to be any other suitable distance depending on the application.
  • the real-time warning distance is determined to be 0.5 meters larger than the real-time safety critical distance, preferably 0.75 meters larger, more preferably 1 meter larger, or determined to be any other suitable distance depending on the application.
  • reaction time of the system, the reaction time of the person, and/or the real-time location provided by the positioning and motion information obtaining subsystem 101 may additionally be considered when generating the real-time warning distance and the real-time safety critical distance.
  • the operating mechanism of the associated industrial equipment is decelerated to a predefined warning speed. If the real-time distance between the operating mechanism of the industrial equipment and the staff is less than or equal to the real-time security The critical distance will cause the relevant industrial equipment to completely stop running.
  • the operating mechanism of the relevant industrial equipment is accelerated to a predefined The warning speed, and if the real-time distance between the operating mechanism of the industrial equipment and the worker continues to increase beyond the real-time warning distance, the associated industrial equipment is returned to normal operation.
  • the online diagnostic module 1032 is configured to diagnose an operating state of the control subsystem. If it is detected that the control subsystem has an abnormal state, all the industrial equipments involved are stopped.
  • the warning module 1033 is optically and/or acoustically and/or vibratingly operated by a worker's wearable device, for example, when the real-time distance between the operating mechanism of the industrial device and the worker is less than or equal to the real-time warning distance. The person issued a warning.
  • FIG. 1 A schematic flow diagram of a method for operating a personal protection system 100 in accordance with the present invention is shown in FIG.
  • a first step 501 the real-time position and real-time motion information of the operating mechanism and staff of each industrial device are detected or ascertained.
  • a real-time distance between an operating mechanism and a worker of each industrial device is determined based on the real-time location.
  • a real-time warning distance and a real-time safety critical distance between the operating mechanism and the worker of each industrial device are generated based on the operating mechanism of the respective industrial equipment and the geometrical parameters of the worker and the real-time motion information. For example, firstly, based on the operating mechanism of each industrial device and the geometrical parameters of the worker and the real-time motion information, a minimum distance capable of avoiding collision between the operating mechanism and the worker of the industrial device is generated, and then the minimum distance is determined based on the minimum distance.
  • the real-time safety critical distance and the real-time warning distance are described.
  • the real-time safety critical distance is determined to be 0.5 meters larger than the minimum distance, preferably 0.75 meters larger, more preferably 1 meter larger, or determined to be any other suitable distance depending on the application.
  • the real-time warning distance is determined to be 0.5 meters larger than the real-time safety critical distance, preferably 0.75 meters larger, more preferably 1 meter larger, or determined to be any other suitable distance depending on the application.
  • reaction time of the system may be additionally considered when generating the real-time warning distance and the real-time safety critical distance.
  • a fourth step 504 the real-time distance between the operating mechanism of the industrial equipment and the worker is compared with the generated real-time warning distance and the real-time safety critical distance, if the real-time distance is less than or equal to the real-time warning distance and The real-time safety critical distance, the corresponding security measures are taken. For example, if the real-time distance is less than or equal to the real-time warning distance, the operating mechanism of the relevant industrial equipment is decelerated to a predefined warning speed and a warning is issued to the worker if the operating mechanism of the industrial equipment is in contact with the worker The real-time distance is less than or equal to the real-time safety critical distance, so that the relevant industrial equipment is completely stopped.
  • the operating mechanism of the relevant industrial equipment is accelerated to a predefined The warning speed, and if the real-time distance between the operating mechanism of the industrial equipment and the worker continues to increase beyond the real-time warning distance, the associated industrial equipment is returned to normal operation.
  • a first step 501 the industrial equipment (including the set positioning transmitter) is modeled, and the real-time motion information of the operating mechanism of the industrial equipment is ascertained based on the model of the industrial equipment.
  • a first step 501 the worker (including the set positioning transmitter) is modeled, and the staff's real-time motion information is obtained based on the staff's model.

Abstract

公开了一种人员保护系统（100），用于避免车间场景中工业设备和工作人员发生碰撞，工业设备具有至少一个能够以一个或多个自由度运动的操作机构，人员保护系统包括定位和运动信息求取子系统（101）和控制子系统（103），其中，定位和运动信息求取子系统（101）检测或求取各个工业设备的操作机构以及各个工作人员的实时位置和实时运动信息，控制子系统（103）基于实时位置求取各个工业设备与工作人员之间的实时距离、基于各个工业设备的操作机构和工作人员的几何结构参数以及所述实时运动信息求取实时警告距离和实时安全临界距离以及在所述实时距离分别小于等于所述实时警告距离和所属实时临界距离时采取相应的安全措施。

Description

人员保护系统及其运行方法 技术领域
本发明涉及一种人员保护系统以及一种用于运行所述人员保护系统的方法。
背景技术
迄今，为了在车间场景中避免具有可运动操作机构的工业设备伤害工作人员，通常设置物理栅栏或基于传感器的安全系统，其中，物理栅栏通常通过机械栅栏将工业设备隔离起来，从而使工作人员难以接近，基于传感器的安全系统通常通过图像传感器或激光传感器检测工作人员是否进入危险区并且在检测到工作人员进入危险区时触发工业设备停止运行。由此可见，迄今的安全措施基本上设置固定的危险区并且仅适用于位置固定的工业设备。尤其对于在车间场景中越来越多地使用具有行走能力的工业机器人的情况，迄今的安全措施显然无法提供可靠且灵活的人员保护。
发明内容
本发明的目的在于提供一种人员保护系统和一种用于运行所述人员保护系统的方法，其用于在存在可能对工作人员造成伤害的工业设备的车间场景中提供更可靠且更灵活的动态人员保护，一方面确保工作人员的人身安全而另一方面尽可能减少工业设备的不必要的减速或停机。
为了实现这个目的，本发明提供了一种人员保护系统，其用于避免车间场景中工业设备和工作人员发生碰撞，所述工业设备具有至少一个能够以一个或多个自由度运动的操作机构，其中，所述人员保护系统包括定位与运动信息求取子系统和控制子系统，其中，所述定位与运动信息求取子系统检测或求取各个工业设备的操作机构以及各个工作人员的实时位置和实时运动信息，所述控制子系统基于所述实时位置求取各个工业设备与工作人员之间的实时距离、基于各个工业设备的操作机构和工作人员的几何 结构参数以及所述实时运动信息求取实时警告距离和实时安全临界距离以及在所述实时距离分别小于等于所述实时警告距离和所述实时安全临界距离时采取相应的安全措施。
在本发明的一种优选实施方式中，所述工业设备构造为具有行走能力的工业机器人。
在本发明的一种优选实施方式中，所述定位与运动信息求取子系统包括定位发射器、接收器和处理单元，其中，在每一个工业设备的每一个操作机构上设置至少两个、优选恰好两个定位发射器，并且每一个工作人员佩戴至少两个、优选恰好两个定位发射器，所述定位发射器构造成主动地发射信号，所述信号由设置在车间场景中的多个接收器接收并且由接收器传输给所述处理单元，所述处理单元根据由所述接收器接收到的信号求取每一个定位发射器的实时位置以及根据所求取的实时位置和定位发射器在每一个工作人员或每一个工业设备的每一个操作机构上的预先确定的布局求取相关工作人员或工业设备的操作机构的实时运动信息。
在本发明的一种优选实施方式中，所述实时运动信息涉及运动方向、运动速度和运动加速度。
在本发明的一种优选实施方式中，所述实时位置和所述实时运动信息涉及二维平面中的位置和运动信息或者涉及三维空间中的位置和运动信息。
在本发明的一种优选实施方式中，所述定位与运动信息求取子系统还包括一个或多个运动传感器。
在本发明的一种优选实施方式中，所述运动传感器是惯性传感器，其能够检测运动方向、运动速度和运动加速度等实时运动信息。
在本发明的一种优选实施方式中，根据由运动传感器检测的运动信息对基于定位发射器的信号求取的运动信息进行合理性验证或校正。
在本发明的一种优选实施方式中，所述控制子系统包括安全控制模块，所述安全控制模块用于基于由所述定位与运动信息求取子系统求取的各个工业设备的操作机构和工作人员的实时位置来求取各个工业设备的操作机构和工作人员之间的实时距离以及基于各个工业设备的操作机构和工作人员的几何结构参数和由所述定位与运动信息求取子系统求取的实时运动信 息来生成各个工业设备的操作机构和工作人员之间的实时警告距离和实时安全临界距离，其中，所述实时警告距离大于所述实时安全临界距离。
在本发明的一种优选实施方式中，所述安全控制模块基于各个工业设备的操作机构和工作人员的几何结构参数和由所述定位与运动信息求取子系统求取的实时运动信息来生成能够恰好避免所述工业设备的操作机构和工作人员之间发生碰撞的最小距离以及基于所述最小距离确定所述实时安全临界距离和所述实时警告距离。例如，将所述实时安全临界距离确定为比所述最小距离大0.5米、优选大0.75米、更优选大1米或者确定为其他任意根据应用合适的距离，以及将所述实时警告距离确定为比所述实施安全临界距离大0.5米、优选大0.75米、更优选大1米或者确定为其他任意根据应用合适的距离。
在本发明的一种优选实施方式中，所述安全控制模块在生成所述实时警告距离和所述实时安全临界距离时还可以考虑系统的反应时间、人的反应时间和/或由所述定位与运动信息求取子系统提供的实时位置和运动信息的容差范围，等等。
在本发明的一种优选实施方式中，所述安全控制模块还用于在所述实时距离分别小于等于所述实时警告距离和所述实时安全临界距离时采取相应的安全措施，其中，当工业设备的操作机构与工作人员之间的实时距离小于等于所述实时警告距离时使相关的工业设备的操作机构减速到预定义的警告速度，当工业设备的操作机构与工作人员之间的实时距离小于等于所述实时安全临界距离时使相关的工业设备完全停止运行。
在本发明的一种优选实施方式中，所述警告模块用于当工业设备的操作机构与工作人员之间的实时距离小于等于所述实时警告距离时通过工作人员的可穿戴设备以光学方式和/或声学方式和/或振动方式向相关的工作人员发出警告。
在本发明的一种优选实施方式中，所述控制子系统还包括在线诊断模块，所述在线诊断模块用于在线诊断所述控制子系统的运行状态并且当探测到所述控制子系统出现异常状态时使所有工业设备停止运行。
在本发明的一种优选实施方式中，所述人员保护系统还包括配置与监控子系统，其中，所述配置与监控子系统包括离线配置模块、可视化模块 和进入控制模块，其中，所述离线配置模块用于进行所述人员保护系统的配置，所述可视化模块构造成进行以上所述配置以及监视所述人员保护系统的运行状态的可视化用户界面，其中，所述进入控制模块用于检查工作人员在进入车间之前是否已经佩戴了定位发射器和/或运动传感器。
在本发明的一种优选实施方式中，所述定位与运动信息求取子系统包括各个工业设备和/或各个工作人员的模型并且可以基于所述模型求取各个工业设备的操作机构以及各个工作人员的实时运动信息。在此，所述模型可以是二维模型或三维模型。
本发明还提供了一种用于运行根据本发明的人员保护系统的方法，所述方法包括以下步骤：在第一步骤中，检测或求取各个工业设备的操作机构和工作人员的实时位置和实时运动信息；在第二步骤中，基于所述实时位置求取各个工业设备的操作机构和工作人员之间的实时距离；在第三步骤中，基于各个工业设备的操作机构和工作人员的几何结构参数和实时运动信息来生成各个工业设备的操作机构和工作人员之间的实时警告距离和实时安全临界距离；在第四步骤中，将工业设备的操作机构与工作人员之间的实时距离与所生成的实时警告距离和实时安全临界距离进行比较，如果所述实时距离分别小于等于所述实时警告距离和所述实时安全临界距离，采取相应的安全措施。
在本发明的一种优选实施方式中，在第三步骤中，首先基于各个工业设备的操作机构和工作人员的几何结构参数和实时运动信息来生成能够恰好避免工业设备的操作机构和工作人员之间发生碰撞的最小距离，然后基于所述最小距离确定所述实时安全临界距离和所述实时警告距离。例如，将所述实时安全临界距离确定为比所述最小距离大0.5米、优选大0.75米、更优选大1米或者确定为其他任意根据应用合适的距离。例如，将所述实时警告距离确定为比所述实时安全临界距离大0.5米、优选大0.75米、更优选大1米或者确定为其他任意根据应用合适的距离。
在本发明的一种优选实施方式中，在第三步骤中，在生成所述实时警告距离和所述实时安全临界距离时还可以额外地考虑系统的反应时间、人的反应时间和/或实时位置数据和实时运动信息的容差范围等等。
在本发明的一种优选实施方式中，在第四步骤中，如果工业设备的操 作机构与工作人员之间的实时距离小于等于所述实时警告距离，则使相关工业设备的操作机构减速到预定义的警告速度，如果工业设备的操作机构与工作人员之间的实时距离小于等于所述实时安全临界距离，则使相关工业设备完全停止运行。
在本发明的一种优选实施方式中，如果工业设备的操作机构与工作人员之间的实时距离从小于等于所述实时安全临界距离增大到大于所述实时安全临界距离，则使相关工业设备的操作机构加速至预定义的警告速度，并且如果工业设备的操作机构与工作人员之间的实时距离继续增大到大于所述实时警告距离，则使相关工业设备恢复正常运行。
在本发明的一种优选实施方式中，在所述第一步骤中，建立各个工业设备和/或各个工作人员的模型并且基于所述模型求取各个工业设备的操作机构以及各个工作人员的实时运动信息。在此，所述模型可以是二维模型或三维模型。
根据本发明的人员保护系统或用于运行所述人员保护系统的方法至少具有以下优点：
1.根据本发明的人员保护系统或用于运行所述人员保护系统的方法能够基于实时数据实现动态人员保护，在确保工作人员安全的情况下尽可能避免了工业设备的不必要的减速或停机；
2.根据本发明的人员保护系统或用于运行所述人员保护系统的方法尤其适用于存在具有行走能力的工业机器人的车间场景；
3.根据本发明的人员保护系统或用于运行所述人员保护系统的方法不仅能够实现二维范畴的人员保护而且能够实现三维范畴的人员保护。
附图说明
以下根据附图详细阐述本发明的优选实施例。本领域技术人员应理解的是，这些优选实施例仅仅是示例性的并且不意味着对本发明形成任何限制。
图1示出根据本发明的人员保护系统100的示意性框图。
图2示出根据本发明的定位与运动信息求取子系统101的示意性框图。
图3示出根据本发明的配置与监控子系统102的示意性框图。
图4示出根据本发明的控制子系统103的示意性框图。
图5示出用于运行根据本发明的人员保护系统100的方法的示意性流程图。
具体实施方式
图1示出根据本发明的人员保护系统100的示意性框图。所述人员保护系统尤其用于在存在可能对工作人员造成伤害的工业设备的车间场景中避免工业设备伤害(例如碰撞)工作人员。在一种示例性场景中，所述工业设备可以是装配流水线上的工业机器人，其主要包括一个基座和一个或多个操作机构，所述基座相对于地面是位置固定的，所述操作机构安装在所述基座上并且例如可以构造为能够以至少一个自由度运动的机械手臂。在另一种示例性场景中，所述工业设备可以是具有行走能力的工业机器人，其例如能够借助于轮式或足式或其他任意可能形式的行走机构在确定区域中运动并且也可以具有一个或多个操作机构，所述操作机构例如可以构造为能够以至少一个自由度运动的机械手臂。
根据本发明，所述人员保护系统100包括定位与运动信息求取子系统101、配置与监控子系统102以及控制子系统103。
所述定位与运动信息求取子系统101主要用于检测或求取车间场景内的各个工业设备的操作机构以及各个工作人员的实时位置和实时运动信息。
所述配置与监控子系统102主要用于配置所述人员保护系统以及监视所述人员保护系统的运行状态。
所述控制子系统103主要用于求取各个工业设备的操作机构与工作人员之间的实时距离、实时警告距离和实时安全临界距离以及在所述实时距离分别小于等于所述实时警告距离和所述实时安全临界距离时采取相应的安全措施。
在图2中示出了根据本发明的定位与运动信息求取子系统101的示意性框图。所述定位与运动信息求取子系统101例如可以包括定位发射器1011、接收器1012和处理单元1013。
在每一个工业设备的(每一个)操作机构上分别设置至少两个定位发射器，并且每一个工作人员分别佩戴至少两个定位发射器。优选地，在每一个工业设备的(每一个)操作机构上分别设置恰好两个定位发射器，并且这两个定位发射器设置在操作机构的两个关节之间的区段上，其中，这两个定位发射器之间的距离以及相对于所述区段的位置始终是固定的。优选地，每一个工作人员分别佩戴恰好两个定位发射器，并且这两个定位发射器例如可以设置在工作人员的左肩或右肩或其他任意对于应用而言合适的部位上，其中，这两个定位发射器之间的距离以及相对于所述部位的位置始终是固定的。这些定位发射器主动地发射(广播)信号，例如射频(RF)信号、超声信号、红外信号等等。所述定位发射器也可以称作定位标签或电子标签(tag)。在车间场景内设置多个位置固定的接收器1012，这些接收器接收由各个定位发射器发射的信号以及将所接收的信号传输给处理单元1013。处理单元1013能够基于由接收器接收到的信号求取每一个定位发射器的实时位置。例如，处理单元1013能够基于由至少三个接收器接收到的由一个定位发射器发射的信号求取这个定位发射器的实时位置。至少两个定位发射器的冗余设置一方面能够提高系统稳定性，另一方面使处理单元1013能够根据所求取的实时位置以及由每一个工作人员佩戴的或在每一个工业设备的(每一个)操作机构上设置的至少两个定位发射器的预先确定的布局来求取相关工作人员或工业设备的操作机构的实时运动信息。所述实时运动信息例如涉及运动方向、运动速度和运动加速度等。
所述实时位置和所述实时运动信息可以涉及二维平面中的位置和运动信息或者可以涉及三维空间中的位置和运动信息。
例如，工作人员或工业设备的操作机构的实时运动方向可以直接根据所设置的定位发射器(例如，两个定位发射器)在空间中的相对位置实时确定。例如，工作人员或工业设备的操作机构的实时运动速度或加速度可以根据所设置的定位发射器在单位时间内的位置变化来求取。
优选地，对工业设备(包括所设置的定位发射器)进行建模，以及基于工业设备的模型来求取工业设备的操作机构的实时运动信息，其中，所述模型可以是二维模型或三维模型。
优选地，对工作人员(包括所设置的定位发射器)进行建模，以及基 于工作人员的模型来求取工作人员的实时运动信息，其中，所述模型可以是二维模型或三维模型。
可选择地，所述定位与运动信息求取子系统101还可以包括一个或多个运动传感器1014，例如惯性传感器，其能够检测所需的运动信息，例如运动方向、运动速度和运动加速度等。
在设置有运动传感器1014的情况下，例如可以根据由运动传感器检测的运动信息对根据定位发射器的信号求取的运动信息进行合理性验证或校正。
可选择地，在设置有运动传感器1014的情况下，例如可以由每一个工作人员分别佩戴一个定位发射器并且在每一个工业设备的(每一个)操作机构上分别设置一个定位发射器，其中，由定位发射器的信号求取实时位置并且由运动传感器提供运动信息。
图3示出根据本发明的配置与监控子系统102的示意性框图。所述配置与监控子系统102包括离线配置模块1021、可视化模块1022和进入控制模块1023。
所述离线配置模块1021用于进行所述人员保护系统100的配置，例如配置定位发射器的参数、接收器的参数、运动传感器的参数、诊断校验参数、流水线参数、与数据处理有关的参数、工业设备的参数或其他任意根据应用所需的参数，其中，与数据处理有关的参数例如涉及放大器参数和滤波器参数等等，工业设备的参数例如涉及工业设备的操作机构的几何结构参数、设定活动范围、最大可能活动范围等等。
所述可视化模块1022构造为用于进行以上所述配置以及监视所述人员保护系统100的运行状态的可视化用户界面。
所述进入控制模块1023用于检查工作人员在进入车间之前是否已经佩戴了定位发射器和/或运动传感器。
可选择地，所述进入控制模块1023的功能也可以集成在可视化模块1022中。
在图4中示出了根据本发明的控制子系统103的示意性框图。所述控制子系统103例如包括安全控制模块1031、在线诊断模块1032以及警告模块1033。
所述安全控制模块1031用于求取各个工业设备的操作机构和工作人员之间的实时距离、生成各个工业设备的操作机构和工作人员之间的实时警告距离和实时安全临界距离以及在所述实时距离小于等于所述警告距离或所述实时安全临界距离时采取相应的安全措施。在此，所述安全控制模块1031基于由定位与运动信息求取子系统101求取的各个工业设备的操作机构和工作人员的实时位置数据来求取各个工业设备的操作机构和工作人员之间的实时距离。在此，所述安全控制模块1031基于各个工业设备的操作机构和工作人员的几何结构参数和由定位与运动信息求取子系统101求取的实时运动信息来生成各个工业设备的操作机构和工作人员之间的实时警告距离和实时安全临界距离。所述实时警告距离大于所述实时安全临界距离。
例如，工业设备的操作机构的几何结构参数涉及所述操作机构的纵向长度，尤其涉及定位发射器与操作机构的自由端部之间的(最大)距离。例如，工作人员的几何结构参数例如涉及工作人员的臂长。可以理解，工业设备的操作机构或工作人员的几何结构参数也可以涉及其他任意对于具体应用而言适当或所需的几何结构参数。
根据一种实施方式，首先基于各个工业设备的操作机构和工作人员的几何结构参数和实时运动信息来生成能够恰好避免工业设备的操作机构和工作人员之间发生碰撞的最小距离，然后基于所述最小距离来确定所述实时安全临界距离和实时警告距离。例如，将所述实时安全临界距离确定为比所述最小距离大0.5米、优选大0.75米、更优选大1米或者确定为其他任意根据应用合适的距离。例如，将所述实时警告距离确定为比所述实时安全临界距离大0.5米、优选大0.75米、更优选大1米或者确定为其他任意根据应用合适的距离。
可选择地，在生成所述实时警告距离和所述实时安全临界距离时还可以额外地考虑系统的反应时间、人的反应时间和/或由定位与运动信息求取子系统101提供的实时位置数据和运动信息的容差范围等等。
如果工业设备的操作机构与工作人员之间的实时距离小于等于所述实时警告距离，则使相关工业设备的操作机构减速到预定义的警告速度。如果工业设备的操作机构与工作人员之间的实时距离小于等于所述实时安全 临界距离，则使相关工业设备完全停止运行。
可选择地，如果工业设备的操作机构与工作人员之间的实时距离从小于等于所述实时安全临界距离增大到大于所述实时安全临界距离，则使相关工业设备的操作机构加速至预定义的警告速度，并且如果工业设备的操作机构与工作人员之间的实时距离继续增大到大于所述实时警告距离，则使相关工业设备恢复正常运行。
所述在线诊断模块1032用于诊断控制子系统的运行状态。如果探测到所述控制子系统出现异常状态，则使所涉及的工业设备全部停止运行。
所述警告模块1033例如当工业设备的操作机构与工作人员之间的实时距离小于等于所述实时警告距离时通过工作人员的可穿戴设备以光学方式和/或声学方式和/或振动方式向工作人员发出警告。
在图5中示出了用于运行根据本发明的人员保护系统100的方法的示意性流程图。
在第一步骤501中，检测或求取各个工业设备的操作机构和工作人员的实时位置和实时运动信息。
在第二步骤502中，基于所述实时位置求取各个工业设备的操作机构和工作人员之间的实时距离。
在第三步骤503中，基于各个工业设备的操作机构和工作人员的几何结构参数和实时运动信息来生成各个工业设备的操作机构和工作人员之间的实时警告距离和实时安全临界距离。例如，首先基于各个工业设备的操作机构和工作人员的几何结构参数和实时运动信息来生成能够恰好避免工业设备的操作机构和工作人员之间发生碰撞的最小距离，然后基于所述最小距离确定所述实时安全临界距离和所述实时警告距离。
例如，将所述实时安全临界距离确定为比所述最小距离大0.5米、优选大0.75米、更优选大1米或者确定为其他任意根据应用合适的距离。
例如，将所述实时警告距离确定为比所述实时安全临界距离大0.5米、优选大0.75米、更优选大1米或者确定为其他任意根据应用合适的距离。
可选择地，在生成所述实时警告距离和所述实时安全临界距离时还可以额外地考虑系统的反应时间、人的反应时间和/或实时位置数据和实时运动信息的容差范围等等。
在第四步骤504中，将工业设备的操作机构与工作人员之间的实时距离与所生成的实时警告距离和实时安全临界距离进行比较，如果所述实时距离分别小于等于所述实时警告距离和所述实时安全临界距离，则采取相应的安全措施。例如，如果所述实时距离小于等于所述实时警告距离，则使相关工业设备的操作机构减速到预定义的警告速度并且向所述工作人员发出警告，如果工业设备的操作机构与工作人员之间的实时距离小于等于所述实时安全临界距离，则使相关工业设备完全停止运行。
可选择地，如果工业设备的操作机构与工作人员之间的实时距离从小于等于所述实时安全临界距离增大到大于所述实时安全临界距离，则使相关工业设备的操作机构加速至预定义的警告速度，并且如果工业设备的操作机构与工作人员之间的实时距离继续增大到大于所述实时警告距离，则使相关工业设备恢复正常运行。
优选地，在第一步骤501中，对工业设备(包括所设置的定位发射器)进行建模，以及基于工业设备的模型来求取工业设备的操作机构的实时运动信息。
优选地，在第一步骤501中，对工作人员(包括所设置的定位发射器)进行建模，以及基于工作人员的模型来求取工作人员的实时运动信息。
对于本领域技术人员而言，可以在不脱离本发明的精神的情况下对以上优选实施例进行各种变型或修改，这些变型或修改均不脱离本发明的范畴。

Claims (13)

  1. 一种人员保护系统，其用于避免车间场景中工业设备和工作人员发生碰撞，所述工业设备具有至少一个能够以一个或多个自由度运动的操作机构，所述人员保护系统包括定位与运动信息求取子系统和控制子系统，
    其中，所述定位与运动信息求取子系统检测或求取各个工业设备的操作机构以及各个工作人员的实时位置和实时运动信息，
    其中，所述控制子系统基于所述实时位置求取各个工业设备与工作人员之间的实时距离、基于各个工业设备的操作机构和工作人员的几何结构参数以及所述实时运动信息求取实时警告距离和实时安全临界距离以及在所述实时距离分别小于等于所述实时警告距离和所述实时安全临界距离时采取相应的安全措施。
  2. 根据权利要求1所述的人员保护系统，其特征在于，所述工业设备构造为具有行走能力的工业机器人。
  3. 根据权利要求1或2所述的人员保护系统，其特征在于，所述定位与运动信息求取子系统包括定位发射器、接收器和处理单元，其中，在每一个工业设备的每一个操作机构上设置至少两个、优选恰好两个定位发射器，并且每一个工作人员佩戴至少两个、优选恰好两个定位发射器，所述定位发射器构造成主动地发射信号，所述信号由设置在所述车间场景中的多个接收器接收并且由所述接收器传输给所述处理单元，所述处理单元根据由所述接收器接收到的信号求取每一个定位发射器的实时位置以及根据所求取的实时位置和所述定位发射器在每一个工作人员或每一个工业设备的每一个操作机构上的预先确定的布局求取相关工作人员或工业设备的操作机构的实时运动信息。
  4. 根据权利要求1至3中任一项所述的人员保护系统，其特征在于，所述控制子系统包括安全控制模块，所述安全控制模块基于各个工业设备的操作机构和工作人员的几何结构参数和由所述定位与运动信息求取子系 统求取的实时运动信息来生成能够恰好避免所述工业设备的操作机构和工作人员之间发生碰撞的最小距离以及基于所述最小距离确定所述实时安全临界距离和所述实时警告距离，其中，所述实时警告距离大于所述实时安全临界距离。
  5. 根据权利要求4所述的人员保护系统，其特征在于，所述安全控制模块在生成所述实时警告距离和所述实时安全临界距离时还考虑系统的反应时间、人的反应时间和/或由所述定位与运动信息求取子系统提供的实时位置和实时运动信息的容差范围。
  6. 根据权利要求4或5所述的人员保护系统，其特征在于，所述安全控制模块还用于在所述实时距离分别小于等于所述实时警告距离和所述实时安全临界距离时采取相应的安全措施，其中，当所述工业设备的操作机构与所述工作人员之间的实时距离小于等于所述实时警告距离时使相关的工业设备的操作机构减速到预定义的警告速度，当所述工业设备的操作机构与所述工作人员之间的实时距离小于等于所述实时安全临界距离时使相关的工业设备完全停止运行。
  7. 根据权利要求1至6中任一项所述的人员保护系统，其特征在于，所述控制子系统包括警告模块，所述警告模块用于当所述工业设备的操作机构与工作人员之间的实时距离小于等于所述实时警告距离时通过所述工作人员的可穿戴设备以光学方式和/或声学方式和/或振动方式向相关的工作人员发出警告。
  8. 根据权利要求1至7中任一项所述的人员保护系统，其特征在于，所述定位与运动信息求取子系统包括各个工业设备和/或各个工作人员的模型并且基于所述模型求取各个工业设备的操作机构以及各个工作人员的实时运动信息。
  9. 一种用于运行根据权利要求1至8中任一项所述的人员保护系统的 方法，所述方法包括以下步骤：
    在第一步骤中，检测或求取各个工业设备的操作机构和工作人员的实时位置和实时运动信息；
    在第二步骤中，基于所述实时位置求取各个工业设备的操作机构和工作人员之间的实时距离；
    在第三步骤中，基于各个工业设备的操作机构和工作人员的几何结构参数和实时运动信息来生成各个工业设备的操作机构和工作人员之间的实时警告距离和实时安全临界距离；
    在第四步骤中，将所述工业设备的操作机构与所述工作人员之间的实时距离与所生成的实时警告距离和实时安全临界距离进行比较，其中，如果所述实时距离分别小于等于所述实时警告距离和所述实时安全临界距离，则采取相应的安全措施。
  10. 根据权利要求9所述的方法，其特征在于，在所述第三步骤中，首先基于各个工业设备的操作机构和工作人员的几何结构参数和实时运动信息来生成能够恰好避免所述工业设备的操作机构和所述工作人员之间发生碰撞的最小距离，然后基于所述最小距离确定所述实时安全临界距离和所述实时警告距离。
  11. 根据权利要求9或10所述的方法，其特征在于，在所述第三步骤中，在生成所述实时警告距离和所述实时安全临界距离时还考虑系统的反应时间、人的反应时间和/或所述实时位置和所述实时运动信息的容差范围。
  12. 根据权利要求9至11中任一项所述的方法，其特征在于，在所述第四步骤中，如果所述工业设备的操作机构与所述工作人员之间的实时距离小于等于所述实时警告距离，则使相关工业设备的操作机构减速到预定义的警告速度，如果所述工业设备的操作机构与所述工作人员之间的实时距离小于等于所述实时安全临界距离，则使相关工业设备完全停止运行。
  13. 根据权利要求9至12中任一项所述的方法，其特征在于，在所述第一步骤中，建立各个工业设备和/或各个工作人员的模型并且基于所述模型求取各个工业设备的操作机构以及各个工作人员的实时运动信息。
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