WO2020238159A1

WO2020238159A1 - Method and device for determining working range state of industrial robot

Info

Publication number: WO2020238159A1
Application number: PCT/CN2019/125514
Authority: WO
Inventors: 胡飞鹏; 黄诚成; 尹立明; 周婀娜
Original assignee: 珠海格力电器股份有限公司
Priority date: 2019-05-24
Filing date: 2019-12-16
Publication date: 2020-12-03
Also published as: CN110058195A

Abstract

A method and device for determining the working range state of an industrial robot. The method for determining the working range state of an industrial robot comprises: acquiring a target detection signal of a predetermined range, the target detection signal being a signal obtained by detecting a predetermined range by means of a millimeter wave transmitting and receiving end (S102); determining first position information of the target detection signal in a tool coordinate system, and converting the first position information into second position information relative to a base coordinate system of the industrial robot, the tool coordinate system and the base coordinate system being coordinate systems established on the basis of characteristic information of the industrial robot (S104); and determining the current working range state of the industrial robot on the basis of the second position information (S106). The method and device for determining the working range state of an industrial robot solve the technical problem in the relevant technology in which the reliability of the manner for detecting the working range of an industrial robot is low.

Description

Method and device for determining working range state of industrial robot

Related application

This disclosure claims the priority of the Chinese patent application filed on May 24, 2019, with the application number 201910442060.1, titled "Method and Device for Determining the Working Range Status of Industrial Robots", the full text of which is hereby incorporated by reference.

Technical field

The present disclosure relates to the technical field of industrial robot safety detection, and in particular, to a method and device for determining the working range state of an industrial robot.

Background technique

At present, major mainstream industrial robot companies attach great importance to the detection of safety conditions within the working range of industrial robots. Because the work site of industrial robots is relatively complex, the nature of industrial robots work is different, and the complexity of the surrounding environment is very different. The detection equipment is based on the industrial robot visual recognition scheme and then added visual algorithm recognition. However, this scheme is expensive, and the accuracy based on the visible light feedback signal is low, the algorithm debugging is complicated, and the implementability is difficult.

In view of the low reliability of the method used to detect the working range of the industrial robot in the above-mentioned related technology, no effective solution has been proposed yet.

Summary of the invention

The embodiments of the present disclosure provide a method and device for determining the working range state of an industrial robot, so as to at least solve the technical problem of low reliability of the method for detecting the working range of the industrial robot in the related art.

According to one aspect of the embodiments of the present disclosure, there is provided a method for determining the working range status of an industrial robot, including: acquiring a target detection signal of a predetermined range, wherein the target detection signal is measured by a millimeter wave transmitting and receiving end. Signals obtained by detection within a predetermined range; determine the first position information of the target detection signal in the tool coordinate system, and convert the first position information into second position information relative to the base coordinate system of the industrial robot , Wherein the tool coordinate system and the base coordinate system are coordinate systems established based on characteristic information of the industrial robot; the current working range state of the industrial robot is determined based on the second position information.

In one embodiment, obtaining the target detection signal in the predetermined range includes: obtaining the original detection signal detected by the millimeter wave transmitting and receiving end; preprocessing the original detection signal to obtain the target detection signal; wherein , Preprocessing the original detection signal to obtain the target detection signal includes: performing intermediate frequency suppression processing on the original detection signal to obtain an original detection signal after intermediate frequency suppression processing; and suppressing the intermediate frequency through an analog-to-digital converter The processed original detection signal undergoes analog-to-digital conversion to obtain the target detection signal.

In an embodiment, performing analog-to-digital conversion of the original detection signal after the intermediate frequency suppression processing by an analog-to-digital converter to obtain the target detection signal includes: using a low-pass filter to perform the intermediate frequency suppression processing on the original detection signal. Low-pass filtering the signal to obtain an original detection signal after low-pass filtering; using the original detection signal after low-pass filtering as the input of the analog-to-digital converter; acquiring the output of the analog-to-digital converter; The output of the analog-to-digital converter is subjected to fast Fourier transform FFT processing to obtain the target detection signal.

In an embodiment, before determining the current working range state of the industrial robot based on the second position information, the method for determining the working range state of the industrial robot further includes: comparing the industrial robot's characteristic information to the The predetermined range is divided into areas to obtain a working range and a prohibited range, where the working range represents the active area of the industrial robot in the working process, and the prohibited range represents that other objects or objects other than the industrial robot are not allowed. The area where personnel enter.

In an embodiment, the characteristic information includes at least one of the following: the model of the industrial robot, the safety radius of the industrial robot, and the operating speed of the industrial robot.

In one embodiment, determining the current working range state of the industrial robot based on the second position information includes: when it is determined that the second position information falls outside the working range, determining the current working range of the industrial robot The range state is a safe state; when it is determined that the second position information falls within the working range and outside the prohibited range, it is determined that the current working state of the industrial robot is a safe state; when the second position information is determined When it falls within the prohibited range, it is determined that the current working state of the industrial robot is an unsafe state.

In one embodiment, after determining that the current working range state of the industrial robot is a safe state when it is determined that the second position information falls outside the working range, the method for determining the working range state of the industrial robot is further Including: controlling the green light of the device where the millimeter wave transmitting and receiving end is located, and the industrial robot runs normally.

In one embodiment, when it is determined that the second position information falls within the working range and outside the prohibited range, after determining that the current working state of the industrial robot is a safe state, the working range of the industrial robot The method for determining the status also includes at least one of the following: controlling the yellow light of the device where the millimeter wave transmitting and receiving end is located to light up, and the industrial robot is operating normally; controlling the teach pendant of the industrial robot to display a prompt icon, and the industrial robot is normal run.

In one embodiment, after it is determined that the current working state of the industrial robot is an unsafe state when it is determined that the second position information falls within the prohibited range, the method for determining the working range state of the industrial robot is also It includes at least one of the following: control the red light of the device where the millimeter wave transmitter and receiver is located, and the industrial robot decelerates to stop running; controls the teach pendant of the industrial robot to display a stop icon, and the industrial robot decelerates to Stop running.

In an embodiment, the method for determining the working range state of the industrial robot further includes: updating the dangerous working area of the industrial robot according to the current safety range radius of the industrial robot.

According to another aspect of the embodiments of the present disclosure, there is also provided an apparatus for determining the working range state of an industrial robot, including: an acquisition unit for acquiring a target detection signal of a predetermined range, wherein the target detection signal is determined by millimeters The signal obtained by the wave transmitting and receiving end detecting the predetermined range; the conversion unit is used for determining the first position information of the target detection signal in the tool coordinate system, and converting the first position information into relative The second position information of the base coordinate system of the industrial robot, wherein the tool coordinate system and the base coordinate system are coordinate systems established based on the characteristic information of the industrial robot; the determining unit is configured to be based on the second The position information determines the current working range state of the industrial robot.

In one embodiment, the acquisition unit includes: a first acquisition subunit, configured to acquire the original detection signal detected by the millimeter wave transmitting and receiving end; and a preprocessing subunit, configured to preprocess the original detection signal Processing to obtain the target detection signal; wherein, the preprocessing subunit includes: an intermediate frequency suppression processing module for performing intermediate frequency suppression processing on the original detection signal to obtain the original detection signal after the intermediate frequency suppression processing; analog-to-digital conversion The module is used for analog-to-digital conversion of the original detection signal after intermediate frequency suppression processing by an analog-to-digital converter to obtain the target detection signal.

In an embodiment, the analog-to-digital conversion module includes: a low-pass filter processing sub-module, configured to use a low-pass filter to perform low-pass filter processing on the original detection signal after the intermediate frequency suppression processing to obtain a low-pass filter processing A determining sub-module for taking the low-pass filtering processed original detection signal as the input of the analog-to-digital converter; an obtaining sub-module for obtaining the output of the analog-to-digital converter; The FFT processing sub-module is used to perform fast Fourier transform FFT processing on the output of the analog-to-digital converter to obtain the target detection signal.

In one embodiment, the device for determining the working range state of the industrial robot further includes: a region dividing unit configured to determine the current working range state of the industrial robot based on the second position information based on the industrial robot The feature information of, divides the predetermined range into regions to obtain a working range and a prohibited range, where the working range represents the active area of the industrial robot in the working process, and the prohibited range represents that it is not allowed to remove the industrial robot The area that other objects or people enter.

In an embodiment, the characteristic information includes at least one of the following: the model of the industrial robot, the safety range radius of the industrial robot, and the operating speed of the industrial robot.

In an embodiment, the determining unit includes: a first determining subunit, configured to determine that the current working range state of the industrial robot is a safe state when it is determined that the second position information falls outside the working range The second determining subunit is used to determine that the current working state of the industrial robot is a safe state when it is determined that the second position information falls within the working range and outside the prohibited range; the third determining subunit , For determining that the current working state of the industrial robot is a non-safe state when it is determined that the second position information falls within the prohibited range.

In an embodiment, the device for determining the working range state of the industrial robot further includes: a first control subunit, configured to determine that the industrial robot is outside the working range when the second position information is determined to be outside the working range After the current working range state of the millimeter wave transmitter is in the safe state, the green light of the device where the millimeter wave transmitter and receiver is located is controlled to light up, and the industrial robot operates normally.

In an embodiment, the device for determining the working range status of the industrial robot further includes at least one of the following: a second control subunit, configured to interact with the working range when the second position information is determined to fall within the working range When it is outside the prohibited range, after it is determined that the current working state of the industrial robot is in a safe state, the yellow light of the device where the millimeter wave transmitter and receiver is located is controlled to light up, and the industrial robot operates normally; the third control subunit is used to control the The teaching pendant of the industrial robot displays a prompt icon, and the industrial robot operates normally.

In an embodiment, the device for determining the working range status of the industrial robot further includes at least one of the following: a fourth control subunit, configured to determine when it is determined that the second position information falls within the prohibited range After the current working state of the industrial robot is in an unsafe state, the red light that controls the device where the millimeter wave transmitter and receiver is located is turned on, and the industrial robot is decelerated to stop running; the fifth control subunit is used to control the The teach pendant of the industrial robot displays a stop icon, and the industrial robot decelerates to a stop.

In an embodiment, the device for determining the working range status of the industrial robot further includes: an updating unit, configured to update the dangerous working area of the industrial robot according to the current safety range radius of the industrial robot.

According to another aspect of the embodiments of the present disclosure, there is also provided an industrial robot, including the device for determining the working range state of the industrial robot described in any one of the above.

According to another aspect of the embodiments of the present disclosure, a storage medium is also provided, the storage medium includes a stored program, wherein the program executes the method for determining the working range state of an industrial robot described in any one of the above .

According to another aspect of the embodiments of the present disclosure, a processor is also provided, the processor is used to run a program, wherein the determination of the working range status of the industrial robot described in any one of the above is executed when the program is running method.

In the embodiment of the present disclosure, a target detection signal of a predetermined range is acquired, where the target detection signal is a signal obtained by the millimeter wave transmitting and receiving end detecting the predetermined range; the first position of the target detection signal in the tool coordinate system is determined Information, and convert the first position information into second position information relative to the base coordinate system of the industrial robot, where the tool coordinate system and the base coordinate system are coordinate systems established based on the feature information of the industrial robot; based on the second position information The method of determining the current working range state of the industrial robot detects the current working range of the industrial robot. The method for determining the working range state of the industrial robot provided by the embodiments of the present disclosure can use millimeter waves as the detection carrier to realize the working range of the industrial robot. For the purpose of detection, millimeter waves have strong penetrability, short wavelength, and travel at the speed of light, high accuracy, and fast detection speed, which achieves the purpose of rapid detection of the working range of industrial robots, and improves the performance of industrial robots. The technical effect of the reliability of the detection of the working range further solves the technical problem of low reliability of the method for detecting the working range of the industrial robot in the related technology.

Description of the drawings

The drawings described here are used to provide a further understanding of the present disclosure and constitute a part of the present application. The exemplary embodiments of the present disclosure and their descriptions are used to explain the present disclosure, and do not constitute an improper limitation of the present disclosure. In the attached picture:

Fig. 1 is a flowchart of a method for determining a working range state of an industrial robot according to an embodiment of the present disclosure;

FIG. 2 is a structural diagram of acquiring a target detection signal according to an embodiment of the present disclosure;

FIG. 3 is a structural diagram of intelligent analysis of hazard sources on target detection signals according to an embodiment of the present disclosure;

4 is a schematic diagram of visual output based on target detection signals according to an embodiment of the present disclosure;

Fig. 5 is a schematic diagram of an apparatus for determining a working range state of an industrial robot according to an embodiment of the present disclosure.

Detailed ways

In order to enable those skilled in the art to better understand the solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only They are a part of the embodiments of the present disclosure, but not all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work should fall within the protection scope of the present disclosure.

It should be noted that the terms "first" and "second" in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present disclosure described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations of them are intended to cover non-exclusive inclusions. For example, a process, device, system, product, or device that includes a series of steps or units is not necessarily limited to the clearly listed Those steps or units may include other steps or units that are not clearly listed or are inherent to these processes, devices, products, or equipment.

For the above-mentioned related technologies, when detecting the working range of industrial robots, the industrial robot visual recognition scheme is generally combined with visual algorithms. However, this method is relatively expensive, and based on visible light feedback signals, the accuracy is low, and the algorithm debugging is complicated. , The implementability is low.

In order to effectively reduce the above-mentioned drawbacks, in the embodiments of the present disclosure, millimeter waves are used to detect the working range of the industrial robot. Among them, millimeter wave is a special wave that uses short-wavelength electromagnetic waves. The emitted electromagnetic wave signal is blocked by objects on its transmission path and then reflected. By capturing the reflected signal, the signal processor can determine the distance, speed and angle of the object and output it The corresponding data. The millimeter wave has a wavelength range of 1-10mm. The advantages of this wave are strong penetration, short wavelength, high angular resolution and ultra-high detection accuracy (can detect movement of a few tenths of a millimeter). In addition, the shortcomings of millimeter waves that are easily attenuated during long-distance propagation can be completely ignored in this solution. The operating range of industrial robots is only a few meters, and millimeter waves can almost achieve non-destructive testing within this range. This solution is based on millimeter wave theory, using millimeter wave antennas, signal processing chips, and data processing algorithms to perform safety inspections within the working range of industrial robots.

In addition, the key parts of the device for determining the working range state of the industrial robot provided by the embodiments of the present disclosure are divided into: hardware circuit design, data processing and intelligent analysis of hazard sources, and visual signal data output display. Among them, the above three distributions can be inherited in the existing controller, or can be used as a separate peripheral to connect with industrial robot equipment. The following is a detailed description of the integration of the above three key parts in a single device.

Example 1

According to the embodiments of the present disclosure, a method embodiment of a method for determining the working range status of an industrial robot is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be implemented in a computer such as a set of computer-executable instructions. It is executed in the system, and although the logical sequence is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than here.

Fig. 1 is a flowchart of a method for determining a working range state of an industrial robot according to an embodiment of the present disclosure. As shown in Fig. 1, the method for determining a working range state of an industrial robot includes the following steps:

Step S102: Obtain a target detection signal in a predetermined range, where the target detection signal is a signal obtained by detecting the predetermined range by the millimeter wave transmitting and receiving end.

Fig. 2 is a structural diagram of acquiring a target detection signal according to an embodiment of the present disclosure. As shown in Fig. 2, the millimeter wave transmitting and receiving end can be implemented by a radio frequency module and an analog-to-digital conversion module. Among them, the synthesizer of the millimeter wave transmitting and receiving end will send the detection signal to the transmitting antenna (ie, TX antenna) and the receiving antenna (RX antenna) output station. The TX antenna will send out the millimeter wave loaded with the detection signal. After the obstruction, the millimeter wave will be reflected. The RX antenna can be used to receive the reflected millimeter wave and input it to the output station to output the original detection signal. At this time, the RF module completes its function, and the analog-to-digital conversion module will respond to the original detection module. Perform pretreatment.

That is, in step S102, obtaining the target detection signal in the predetermined range may include: obtaining the original detection signal detected by the millimeter wave transmitting and receiving end; preprocessing the original detection signal to obtain the target detection signal; wherein, performing the original detection signal Preprocessing to obtain the target detection signal includes: performing intermediate frequency suppression processing on the original detection signal to obtain the original detection signal after the intermediate frequency suppression processing; analog-to-digital conversion of the original detection signal after the intermediate frequency suppression processing by the analog-to-digital converter to obtain the target detection signal. Among them, the original detection signal after intermediate frequency suppression processing is the IF signal shown in FIG. 2.

In addition, performing analog-to-digital conversion of the original detection signal after the intermediate frequency suppression processing by the analog-to-digital converter to obtain the target detection signal includes: using a low-pass filter to perform low-pass filtering processing on the original detection signal after the intermediate frequency suppression processing to obtain a low pass The original detection signal after filtering processing; the original detection signal after low-pass filtering is used as the input of the analog-to-digital converter; the output of the analog-to-digital converter is obtained; the output of the analog-to-digital converter is subjected to fast Fourier transform FFT processing, Obtain the target detection signal. As shown in Figure 2, in the analog module, a low-pass filter (ie, LP filter) is used to perform low-pass filtering on the original detection signal after the intermediate frequency suppression process to obtain the original detection signal after the low-pass filtering process. The analog-to-digital converter ADC performs analog-to-digital conversion on the original detection signal after low-pass filtering to obtain the digital signal corresponding to the original detection signal, and uses the fast Fourier transform FFT to process the digital signal corresponding to the original detection signal to obtain the target The detection signal is the FFT signal processing in Figure 2.

That is, in Figure 2, the millimeter wave transmitting and receiving end will be responsible for sending and receiving signals, and the RF module will perform preliminary signal processing to output the IF signal, and then pass the detected information to the processor through the analog-to-digital converter, and collect it. The signal post processor can process data according to the processing logic compiled by the engineer. In this part, the millimeter-wave antenna and its subsequent signal conversion part are designed in the same controller. The antenna is a centimeter-level size. The volume of the entire transmitting and receiving end is also very small, and the design freedom is large.

Step S104: Determine the first position information of the target detection signal in the tool coordinate system, and convert the first position information into second position information relative to the base coordinate system of the industrial robot, where the tool coordinate system and the base coordinate system are A coordinate system based on the feature information of an industrial robot.

In an optional embodiment, before determining the current working range state of the industrial robot based on the second position information, the method for determining the working range state of the industrial robot further includes: dividing the predetermined range based on the characteristic information of the industrial robot , Get the working scope and the prohibited scope, where the working scope represents the active area of the industrial robot during the working process, and the prohibited scope represents the area where objects or persons other than the industrial robot are not allowed to enter.

It should be noted that the feature information here may include at least one of the following: the model of the industrial robot, the safety radius of the industrial robot, and the operating speed of the industrial robot.

Specifically, the dangerous work area S (ie, the prohibited range) and the non-hazardous information M are designed by the algorithm engineer, modularized design, and inputable setting windows are provided for the debugging engineer to perform the dangerous work area S according to the actual working scene of the robot. And non-hazardous information M is set. The hazardous work area is related to information such as the model, operating radius, and speed of the industrial robot; there may be signals of supporting tools, tools, production lines and other objects within the working range of the industrial robot, which can be set as non-hazardous information M . The setting of hazardous work area S and non-hazardous information M can be updated in real time according to actual working conditions, which is convenient and quick.

Figure 3 is a structural diagram of intelligent analysis of hazard sources on target detection signals according to an embodiment of the present disclosure. As shown in Figure 3, after FFT signal processing is performed, a predetermined chip is used to signal the target detection signal obtained after FFT signal processing. Processing, after processing with a predetermined chip, intelligent analysis of dangerous sources can be performed for the target detection signal. This part performs data processing according to the program compiled by the algorithm engineer. The data processing part includes the position coordinate calculation of the target detection signal, the speed calculation and the generation of the detection log. Among them, the base coordinate system and the tool coordinate system are predefined in the above program. When the predetermined chip obtains the target detection signal after FFT signal processing, it can calculate the position information of the target detection signal in the tool coordinate system (that is, the first Position information) to convert the position information of the target detection information in the tool coordinate system into position information relative to the base coordinate system of the industrial robot (ie, second position information).

The intelligent analysis part of the hazard source in Figure 3 compares the second location information with the set hazardous work area S and the prescribed non-hazardous information M to judge the hazard; when it is judged to be the information of the hazard source, “ Valid signal data retention processing; otherwise, "invalid" signal data discard processing; after retaining "valid" signal data, visual information output is performed.

It should be noted that, in the embodiment of the present disclosure, each signal processing and judgment of the signal processing chip generates a detection log, and the log data in the detection log can be retrieved and viewed by management personnel to achieve data traceability.

In addition, the intelligent analysis of hazards can be set by the engineer according to the actual working scene of the robot, and the modular design is simpler and faster, with higher applicability, and can be applied to a variety of robots.

Step S106: Determine the current working range state of the industrial robot based on the second position information.

Through the above steps, a target detection signal of a predetermined range can be obtained, where the target detection signal is a signal obtained by the millimeter wave transmitting and receiving end detecting the predetermined range; and the first position information of the target detection signal in the tool coordinate system is determined, The first position information is converted into second position information relative to the base coordinate system of the industrial robot, where the tool coordinate system and the base coordinate system are coordinate systems established based on the characteristic information of the industrial robot; and then determined based on the second position information The current working range status of the industrial robot. Compared with the drawbacks of low reliability in detecting the working range of industrial robots in the related art, the method for determining the working range state of industrial robots provided by the embodiments of the present disclosure can use millimeter waves as the detection carrier to realize the detection of industrial robots. The purpose of working range detection, and millimeter waves have strong penetrating, short wavelength, and propagate at the speed of light, high accuracy, fast detection speed, to achieve the purpose of rapid detection of the working range of industrial robots, improve the industrial The technical effect of the reliability of the detection of the working range of the robot further solves the technical problem of the low reliability of the method for detecting the working range of the industrial robot in the related technology.

In an optional embodiment, determining the current working range state of the industrial robot based on the second position information may include: when it is determined that the second position information falls outside the working range, determining that the current working range state of the industrial robot is a safe state; When it is determined that the second position information falls within the working range and outside the prohibited range, the current working state of the industrial robot is determined to be a safe state; when the second position information is determined to fall within the prohibited range, it is determined that the current working state of the industrial robot is not Safe state.

Wherein, when it is determined that the second position information falls outside the working range, after the current working range state of the industrial robot is determined to be a safe state, the method for determining the working range state of the industrial robot further includes: controlling the device at the millimeter wave transmitting and receiving end The green light is on and the industrial robot is operating normally.

When it is determined that the second position information falls within the working range and outside the prohibited range, after determining that the current working state of the industrial robot is a safe state, the method for determining the working range state of the industrial robot further includes at least one of the following: controlling millimeter waves The yellow light of the device where the transmitter and receiver is located is on, and the industrial robot is operating normally; the teach pendant that controls the industrial robot displays a prompt icon, and the industrial robot is operating normally.

When it is determined that the second position information falls within the prohibited range, after determining that the current working state of the industrial robot is an unsafe state, the method for determining the working range state of the industrial robot further includes at least one of the following: controlling the millimeter wave transmitting and receiving end The red light of the device is on, the industrial robot decelerates to stop; the teach pendant that controls the industrial robot displays a stop icon, and the industrial robot decelerates to stop.

Fig. 4 is a schematic diagram of visual output based on target detection signals according to an embodiment of the present disclosure. As shown in Fig. 4, the equipment of this part may include but not limited to the following types: teach pendant, control display panel, indicator light , As the final display output terminal of the detected target detection signal. Among them, the description of the working range of an industrial robot can be defined by the following conditions: 1) Outside the working range: Any pedestrian or object in this range will not affect the normal operation of the robot, and there will be no safety risk; 2) Within the working range and outside the prohibited range : Pedestrians or objects that enter this range will not affect the normal operation of the robot, but may be affected by objects or equipment around the robot, and have certain safety hazards; 3) Prohibited range: This range is an industrial robot arm with attached In the working range of sports machinery and equipment, there is a great risk of injury to persons who enter. Objects that enter can cause damage to the robot and its accompanying equipment. For a robot that is working, any intrusion of persons or objects is prohibited in this range.

When it is determined that the target detection signal is judged to be a hazard source, the first step is to judge the hazard level. If the target detection signal is within the working range of the industrial robot and outside the prohibited range, the working status of the industrial robot will not change; if the target If the detection signal is in the forbidden range, the chip sends a command to the operation control part to directly respond to an emergency stop, the driver is disabled, and the robot arms of the industrial robot are immediately decelerated to stop, and output on the visualization terminal (the warning light flashes or an alarm bell) ; When the hazard signal is far away to the safe area, the emergency stop of the operation control part resumes the non-response state, the driver automatically restores the enable, and the mechanical arms of the industrial robot restart at the program stop node.

In an optional embodiment, the method for determining the working range state of the industrial robot may further include: updating the dangerous working area of the industrial robot according to the current safety range radius of the industrial robot.

In the embodiment of the present disclosure, the hardware circuit includes at least the following parts: millimeter wave receiving and transmitting end (this part includes millimeter wave antenna), power supply part, chip processing and data storage part, data output and debugging part. The above-mentioned parts are implemented in the controller, and the millimeter wave antenna part is on the side of the controller alone, and the interference received during signal transmission and reception is small; in addition, the distance between the main chip and the millimeter wave antenna component must be relatively close to prevent signals from When the transmission line is disturbed or attenuated, the data storage chip should be placed in an appropriate position. The power supply part designs the power conversion circuit according to the chip requirements. Among them, this part needs to pay attention to the layout of the configuration circuit, reasonable selection, and has good EMC performance with as little heat as possible; data transmission and debugging part: data transmission by USB-micro Mainly, it is used to transmit visual signals. In addition, it is necessary to set up 232 communication serial port, JTAG joint test port, etc., to monitor chip operation and code operation status.

Among them, the data processing and intelligent analysis of dangerous sources need to use basic data processing as the benchmark framework, use mature algorithms to set up reasonable signal processing logic, and ensure high-speed data processing on the basis of ensuring stability. Since the millimeter wave part can detect multiple signals, that is, multiple entering people or objects can be detected at the same time, the algorithm part also needs to make corresponding processing, and the principle is the same. In addition, additional conditions are required to select the statement logic, and the signal selective processing in the debugging editing window can be used for the robot debugging engineer to adjust the demand signal and ignore the signal according to the actual needs. This can facilitate the engineer's convenient setting of the robot safety detection and maintenance The personnel update the safety inspection conditions in a timely manner.

The above controller part is equipped with an injection-molded shell, equipped with a power cord, a data transmission line and the corresponding indicator light, which are the finished peripherals. The peripherals of the finished product are placed in a suitable position and connected to the main controller of the robot through a data cable. Safety detection can be performed according to the following logic: 1. No intrusion signal is detected or a signal outside the working range is detected: The green light of device A is always on, indicating The teaching device (handheld) is normal, and the robot is working normally; 2. The signal is detected within the working range and outside the prohibited range: the yellow light of the device A is always on, and the teach pendant has a prompt icon, and the robot is working normally; 3. The prohibited range is detected Signal: The red light of device A is always on, the emergency stop icon appears on the teach pendant, the emergency stop takes effect, and the robot decelerates to stop working.

The method for determining the working range state of the industrial robot provided by the embodiments of the present disclosure adopts a new safety detection scheme for the working range of the robot, which can greatly reduce the cost of the safety detection of the working range of the industrial robot. The key devices used in this solution are all mature devices with high reliability and good stability, and the cost of algorithm design is low. Compared with the commonly used robot smart cameras and other robot vision solutions, it costs tens of thousands of yuan. In terms of cost, this solution greatly reduces the cost of robot safety detection in industrial environments, and can effectively promote the popularization of safety detection in the industry, that is, the detection cost is greatly reduced; in addition, based on the characteristics of millimeter waves, the detection The accuracy is controlled within the range of millimeters, and millimeter waves travel at the speed of light, with high accuracy, fast detection speed, and fast system analysis response; no matter how the traditional robot vision detection is improved on the equipment, it is difficult to cover the detection accuracy by optical reflection Lower shortcomings, more fragile equipment, difficult to maintain, that is, the accuracy of safety detection is greatly improved; when workers or goods accidentally enter the robot's working range, their positions can be detected in time and corresponding treatment methods can be made, which greatly increases the factory Safety, can avoid the occurrence of safety accidents to the greatest extent; and the implementation of this solution is difficult, and it can be used with robots of multiple types of work, and it can also upgrade existing industrial robots to increase work safety. That is, the embodiments of the present disclosure The provided method for determining the working range status of the industrial robot has good applicability.

In addition, the method for determining the working range state of an industrial robot provided by the embodiments of the present disclosure effectively solves the disadvantages of high cost, low accuracy, and complex algorithm of the safety detection scheme based on robot vision, and at the same time reduces the requirements for the detection environment , Even in a complex environment with many emergencies, many uncontrollable factors, and difficult safety inspections, the working range of industrial robots can be quickly and accurately detected; moreover, multiple industrial robots can be The surrounding safety detection data are displayed in a centralized manner, and the surrounding safety conditions of the robot work group can be remotely monitored in real time to achieve intelligent factory management.

Example 2

According to another aspect of the embodiments of the present disclosure, a device for determining the working range state of an industrial robot is also provided. FIG. 5 is a schematic diagram of the device for determining the working range state of an industrial robot according to an embodiment of the present disclosure, as shown in FIG. As shown, the device for determining the working range state of the industrial robot includes: an acquisition unit 51, a conversion unit 53, and a determination unit 55. The device for determining the working range state of the industrial robot will be described in detail below.

Wherein, the acquiring unit 51 is configured to acquire a target detection signal in a predetermined range, where the target detection signal is a signal obtained by detecting the predetermined range by the millimeter wave transmitting and receiving end.

The conversion unit 53 is used to determine the first position information of the target detection signal in the tool coordinate system, and convert the first position information into second position information relative to the base coordinate system of the industrial robot, where the tool coordinate system and the base coordinate system The coordinate system is a coordinate system established based on the characteristic information of the industrial robot.

The determining unit 55 is configured to determine the current working range state of the industrial robot based on the second position information.

It should be noted here that the above-mentioned acquisition unit 51, conversion unit 53, and determination unit 55 correspond to steps S102 to S106 in Embodiment 1. The above modules and corresponding steps implement the same examples and application scenarios, but are not limited to the above The content disclosed in Example 1. It should be noted that the above-mentioned modules as part of the device can be executed in a computer system such as a set of computer-executable instructions.

It can be seen from the above that in the embodiments of the present disclosure, the acquisition unit may be used to acquire a target detection signal in a predetermined range, where the target detection signal is a signal obtained by the millimeter wave transmitting and receiving end detecting the predetermined range; and the conversion unit is used to determine the target Detect the first position information of the signal in the tool coordinate system, and convert the first position information into second position information relative to the base coordinate system of the industrial robot, where the tool coordinate system and the base coordinate system are based on the characteristics of the industrial robot A coordinate system established by the information; and the determination unit is used to determine the current working range state of the industrial robot based on the second position information. Compared with the disadvantage of low reliability in detecting the working range of industrial robots in the related art, the device for determining the working range state of industrial robots provided by the embodiments of the present disclosure can use millimeter waves as the detection carrier to realize the detection of industrial robots. The purpose of detection in the working range is that millimeter waves have strong penetrability, short wavelength, and propagate at the speed of light, high accuracy, and fast detection speed, which achieves the purpose of rapid detection of the working range of industrial robots and improves the industrial The technical effect of the reliability of detecting the working range of the robot further solves the technical problem of low reliability of the method used for detecting the working range of the industrial robot in the related technology.

As an optional embodiment, the acquiring unit includes: a first acquiring subunit, configured to acquire the original detection signal detected by the millimeter wave transmitting and receiving end; and a preprocessing subunit, configured to preprocess the original detection signal to obtain Target detection signal; wherein, the preprocessing sub-unit includes: intermediate frequency suppression processing module, used to perform intermediate frequency suppression processing on the original detection signal to obtain the original detection signal after intermediate frequency suppression processing; analog-to-digital conversion module, used to pass the analog-to-digital converter The original detection signal after the intermediate frequency suppression processing is subjected to analog-to-digital conversion to obtain the target detection signal.

As an optional embodiment, the analog-to-digital conversion module includes: a low-pass filter processing sub-module, configured to use a low-pass filter to perform low-pass filter processing on the original detection signal after the intermediate frequency suppression processing, to obtain the low-pass filter processing The original detection signal; the determination sub-module is used to take the original detection signal after low-pass filtering as the input of the analog-to-digital converter; the acquisition sub-module is used to obtain the output of the analog-to-digital converter; the FFT processing sub-module is used to The output of the analog-to-digital converter is processed by fast Fourier transform FFT to obtain the target detection signal.

As an optional embodiment, the device for determining the working range state of the industrial robot further includes: an area dividing unit, configured to determine the current working range state of the industrial robot based on the second position information, based on the characteristic information of the industrial robot The predetermined range is divided into areas to obtain the working range and the forbidden range, where the working range represents the active area of the industrial robot in the working process, and the forbidden range represents the area where objects or persons other than the industrial robot are not allowed to enter.

As an optional embodiment, the characteristic information includes at least one of the following: the model of the industrial robot, the safety radius of the industrial robot, and the operating speed of the industrial robot.

As an optional embodiment, the determining unit includes: a first determining subunit for determining that the current working range state of the industrial robot is a safe state when it is determined that the second position information falls outside the working range; Unit for determining that the current working state of the industrial robot is a safe state when it is determined that the second position information falls within the working range and outside the prohibited range; the third determining subunit is used for determining that the second position information falls within the prohibited range When inside, it is determined that the current working state of the industrial robot is a non-safe state.

As an optional embodiment, the device for determining the working range status of the industrial robot further includes: a first control subunit for determining the current working status of the industrial robot when it is determined that the second position information falls outside the working range After the range state is in the safe state, the green light of the device where the millimeter wave transmitting and receiving end is controlled will light up, and the industrial robot will operate normally.

As an optional embodiment, the device for determining the working range status of the industrial robot further includes at least one of the following: a second control subunit for determining when the second position information falls within the working range and outside the prohibited range When it is determined that the current working state of the industrial robot is in a safe state, the yellow light of the device where the millimeter wave transmitter and receiver is located is controlled, and the industrial robot runs normally; the third control subunit is used to control the teach pendant of the industrial robot to display prompt icons The industrial robot is operating normally.

As an optional embodiment, the device for determining the working range state of the industrial robot further includes at least one of the following: a fourth control subunit, configured to determine the industrial robot when it is determined that the second position information falls within the prohibited range After the current working state of the robot is in a non-safe state, the red light that controls the device where the millimeter wave transmitter and receiver is located lights up, and the industrial robot decelerates to stop running; the fifth control subunit, used to control the teach pendant of the industrial robot, displays a stop icon , The industrial robot decelerates to stop running.

As an optional embodiment, the device for determining the working range status of the industrial robot further includes: an updating unit, configured to update the dangerous working area of the industrial robot according to the current safety range radius of the industrial robot.

Example 3

According to another aspect of the embodiments of the present disclosure, there is also provided an industrial robot, including: a device for determining the working range state of the industrial robot in any one of the above. The industrial robot provided by the embodiments of the present disclosure can use millimeter waves as the detection carrier to achieve the purpose of detecting the working range of the industrial robot. The millimeter waves have strong penetrability, short wavelength, and propagate at the speed of light, with high accuracy, and detection The speed is fast, which realizes the purpose of quickly detecting the working range of industrial robots, improves the technical effect of the reliability of detecting the working range of industrial robots, and solves the problem of detecting the working range of industrial robots in related technologies. The technical problem of low reliability of the way.

Example 4

According to another aspect of the embodiments of the present disclosure, a storage medium is also provided, the storage medium includes a stored program, wherein the program executes any one of the above-mentioned methods for determining the working range state of an industrial robot.

Example 5

According to another aspect of the embodiments of the present disclosure, there is also provided a processor, which is used to run a program, wherein the method for determining the working range state of an industrial robot in any one of the above is executed when the program is running.

The serial numbers of the above-mentioned embodiments of the present disclosure are only for description, and do not represent the superiority of the embodiments.

In the above-mentioned embodiments of the present disclosure, the description of each embodiment has its own focus. For parts that are not described in detail in an embodiment, reference may be made to related descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units may be a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of units or modules, and may be in electrical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present disclosure essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , Including several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the apparatus described in each embodiment of the present disclosure. The aforementioned storage media include: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program code .

The above are only the preferred embodiments of the present disclosure. It should be pointed out that for those of ordinary skill in the art, without departing from the principles of the present disclosure, several improvements and modifications can be made, and these improvements and modifications are also Should be regarded as the protection scope of the present disclosure.

Claims

A method for determining the working range status of an industrial robot, which is characterized in that it includes:

Acquiring a target detection signal in a predetermined range, where the target detection signal is a signal obtained by detecting the predetermined range by a millimeter wave transmitting and receiving end;

Determine the first position information of the target detection signal in the tool coordinate system, and convert the first position information into second position information relative to the base coordinate system of the industrial robot, wherein the tool coordinate system And the base coordinate system is a coordinate system established based on the characteristic information of the industrial robot;

The current working range state of the industrial robot is determined based on the second position information.
The method according to claim 1, wherein acquiring the target detection signal in the predetermined range comprises:

Acquiring the original detection signal detected by the millimeter wave transmitting and receiving end;

Preprocessing the original detection signal to obtain the target detection signal;

Wherein, preprocessing the original detection signal to obtain the target detection signal includes:

Performing intermediate frequency suppression processing on the original detection signal to obtain an original detection signal after intermediate frequency suppression processing;

The original detection signal after the intermediate frequency suppression processing is subjected to analog-to-digital conversion by an analog-to-digital converter to obtain the target detection signal.
3. The method according to claim 2, wherein performing analog-to-digital conversion of the original detection signal after intermediate frequency suppression processing by an analog-to-digital converter to obtain the target detection signal comprises:

Using a low-pass filter to perform low-pass filtering processing on the original detection signal after the intermediate frequency suppression processing, to obtain the original detection signal after the low-pass filtering processing;

Using the original detection signal processed by the low-pass filtering as the input of the analog-to-digital converter;

Obtaining the output of the analog-to-digital converter;

The output of the analog-to-digital converter is subjected to fast Fourier transform FFT processing to obtain the target detection signal.
The method according to claim 1, wherein before determining the current working range state of the industrial robot based on the second position information, the method further comprises:

The predetermined range is divided based on the characteristic information of the industrial robot to obtain a working range and a prohibited range, where the working range represents the active area of the industrial robot in the working process, and the prohibited range represents not allowed The area that other objects or people enter except the industrial robot.
The method according to claim 4, wherein the characteristic information includes at least one of the following: a model of the industrial robot, a safety range radius of the industrial robot, and a running speed of the industrial robot.
The method according to claim 4, wherein determining the current working range state of the industrial robot based on the second position information comprises:

When it is determined that the second position information falls outside the working range, determining that the current working range state of the industrial robot is a safe state;

When it is determined that the second position information falls within the working range and outside the prohibited range, determining that the current working state of the industrial robot is a safe state;

When it is determined that the second position information falls within the prohibited range, it is determined that the current working state of the industrial robot is a non-safe state.
The method according to claim 6, wherein after determining that the current working range state of the industrial robot is a safe state when it is determined that the second position information falls outside the working range, the method further comprises: controlling The green light of the device where the millimeter wave transmitting and receiving end is located lights up, and the industrial robot operates normally.
The method according to claim 6, wherein when it is determined that the second position information falls within the working range and outside the prohibited range, after determining that the current working state of the industrial robot is a safe state , Also includes at least one of the following:

Control the yellow light of the device where the millimeter wave transmitting and receiving end is located to light up, and the industrial robot operates normally;

The teach pendant that controls the industrial robot displays a prompt icon, and the industrial robot operates normally.
The method according to claim 6, characterized in that, after determining that the current working state of the industrial robot is a non-safe state when it is determined that the second position information falls within the prohibited range, the method further comprises at least the following one:

Control the red light of the device where the millimeter wave transmitting and receiving end is located, and the industrial robot decelerates to stop running;

The teach pendant that controls the industrial robot displays a stop icon, and the industrial robot decelerates to stop running.
A device for determining the working range state of an industrial robot is characterized in that it comprises:

An acquiring unit, configured to acquire a target detection signal in a predetermined range, wherein the target detection signal is a signal obtained by detecting the predetermined range by a millimeter wave transmitting and receiving end;

The conversion unit is used to determine the first position information of the target detection signal in the tool coordinate system, and convert the first position information into second position information relative to the base coordinate system of the industrial robot, wherein: The tool coordinate system and the base coordinate system are coordinate systems established based on the characteristic information of the industrial robot;

The determining unit is configured to determine the current working range state of the industrial robot based on the second position information.