WO2021186068A1 - Détermination de zones de sécurité autour d'une machine à fonctionnement automatique - Google Patents

Détermination de zones de sécurité autour d'une machine à fonctionnement automatique Download PDF

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Publication number
WO2021186068A1
WO2021186068A1 PCT/EP2021/057151 EP2021057151W WO2021186068A1 WO 2021186068 A1 WO2021186068 A1 WO 2021186068A1 EP 2021057151 W EP2021057151 W EP 2021057151W WO 2021186068 A1 WO2021186068 A1 WO 2021186068A1
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WO
WIPO (PCT)
Prior art keywords
robot
safety
time
contour
area
Prior art date
Application number
PCT/EP2021/057151
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German (de)
English (en)
Inventor
Mohamad Bdiwi
Frank Peters
Original Assignee
Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.
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Publication of WO2021186068A1 publication Critical patent/WO2021186068A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40475—In presence of moving obstacles, dynamic environment
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40492—Model manipulator by spheres for collision avoidance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49141—Detect near collision and slow, stop, inhibit movement tool

Definitions

  • Standards DIN EN ISO 13855 and ISO / TS 15066 contain general specifications that a safety area around an automatically operating machine should meet, but do not prescribe an exact calculation.
  • the distance equation known from the ISO / TS 15066 standard covers every application in its general integral form, but is unsuitable for direct practical application, as the data required for the calculation are typically not available and the calculation is very time-consuming.
  • Robot axis monitoring should be provided as a safety function.
  • the present invention is based on the object of providing a method for the automated and efficient calculation of safety areas around industrial robots.
  • the efficiency here relates to the computational effort and / or the resulting shape and size of the ascertained safety area.
  • the object is achieved according to the invention with the features of the independent claims.
  • the particular approach of the present invention is the determination of a safety area by calculating individual safety segments, in particular safety balls. These are scaled in their size, taking into account the speed of an object which caused a security area violation.
  • time-local and time-global security areas can be determined relatively easily (possibly in real time) and precisely. This determination can lead to a more efficient use of the production area through an appropriate positioning of the robot systems.
  • a method for the automatic determination of a safety area in relation to a robot comprising the following steps: modeling a danger area of the robot by a set of contour balls which contains the robot contour; Determination of a safety area of the robot at a point in time to comprising a set of safety balls at a point in time t, where: the point in time t is later than the point in time to at which a safety area violation by an object occurred, for a contour ball: the position of the contour ball closed corresponds to the time t of the position of a safety ball, the radius of the safety ball is greater than the radius of the corresponding contour ball by an amount, and the amount depends on the time t and a predetermined speed of the object.
  • an apparatus for controlling a robot has the following features: an input for receiving a signal from a sensor for detecting a violation of a safety area by an object, a control device for controlling a robot path based on the received signal, a safety area calculating device for calculating the safety area comprising: modeling a danger area of the robot by a set of contour balls, which contains the robot contour; Determination of a safety area of the robot at a point in time to comprehensively a set of safety balls at a point in time t, where: the point in time t is later than the point in time to at which a safety area violation by the object was detected as having occurred, for a contour sphere: the position of the contour sphere at the point in time t corresponds to the position of a safety sphere, the radius of the safety ball is larger by an amount than the radius of the corresponding contour ball, and the amount depends on the point in time t and a predetermined speed of the object.
  • the method can also detect determining a robot path, the determined safety area of the robot at point in time 4 being a time-local safety area, which is calculated as a combination of individual safety balls, including all safety balls corresponding to the respective contour balls of the set M at each of the successive times t i , with an integer i> 0, the determined robot path.
  • the method further includes, for example, the step of calculating a global time safety area by determining the robot path as a combination of a set of local time safety areas of the robot which are calculated at all respective times 4 of a robot path or a robot path section.
  • the step of determining a safety area of the robot at a point in time to. determining a robot path which contains the paths of the individual contour balls, the robot path following a reaction movement and / or a stopping movement, and determining the positions of the individual contour balls at time t on the basis of the determined robot path.
  • the robot path can follow the reaction movement and / or the stopping movement if the safety area violation was detected by actuating a safety switch, and the robot path can follow a movement intended for normal operation of the robot if the safety area infringement was not detected by actuating the safety switch.
  • the object can be human.
  • the method then further includes the detection of a head and / or one or both hands of the human being as respective separate human segments, and determining, for each human segment, whether the human segment violates the safety area in one of the safety spheres.
  • a device for controlling a robot comprising: an input for receiving a signal from a sensor for detecting a violation of a safety area by an object, a control device for controlling a robot path on the basis of the received signal, a safety area calculating device for calculating the safety area, comprising: modeling a danger area of the robot by a set of contour balls which the robot contour includes; Determination of a safety area of the robot at a point in time to comprising a quantity of safety balls at a point in time t, where: (a) the point in time t is later than the point in time to at which a safety area violation by the object was detected as having occurred, (b) for a contour sphere: the position of the contour sphere at time t corresponds to the position of a safety sphere, the radius of the safety sphere is greater by an amount than the radius of the corresponding contour sphere, and the amount depends on the point in time t and a predetermined speed of the object.
  • Fig. 1 is a schematic representation of a robot and the corresponding
  • FIG. 3 shows a schematic representation of a robot and the corresponding one
  • FIG. 4 shows a schematic representation of a robot path corresponding to a normal movement, a reaction movement and a stopping movement.
  • FIG. 5 shows a schematic representation of a robot path for a contour ball.
  • FIG. 6 shows a schematic representation of an expansion from the radius of a contour sphere for calculating a safety sphere.
  • Figure 8 is a graph obtained by an embodiment of the invention.
  • FIG. 9 shows four exemplary comparisons of safety areas, which were calculated according to an embodiment of the invention and according to the prior art, for different speeds of a robot.
  • Fig. 10 shows the determined safety areas and the corresponding contour ball tracks.
  • 11 depicts a 3-D boundary point group as a representation of a determined
  • FIG. 12 shows segment shapes which can be used as an alternative to or in addition to the balls.
  • FIG. 13 is a schematic illustration of the determination of a number of the contour balls which are to enclose a robot.
  • FIG. 14 is a schematic illustration of the determination of a number of the contour balls on the basis of the robot arm width.
  • 15 is a block diagram which functionally describes the safety calculation.
  • Fig. 17 is a schematic representation for individual trajectories of the respective contour balls.
  • Fig. 18 is an example of global and universal computation
  • Fig. 19 is a table showing various operating modes and their pertinent
  • Fig. 20 is a schematic diagram showing the modeling of the human segment by a circle or sphere.
  • Fig. 21 is a schematic diagram representing the modeling of the human segment by separating the head and hands.
  • 22 is an exemplary illustration of a global cooperation segment.
  • Figure 24 is a flow diagram of a method for determining the safety area.
  • robot encompasses any mobile, automated machine.
  • Robot can have one or more arms, with one arm having one or more joints and each can contain one or more arm sections movable by the joints.
  • a robot can contain a base (e.g. a pedestal) which supports one arm or also several arms that work independently or independently of one another. Each arm follows a movement which is composed of the movement of the arm sections. The arm sections, in turn, move by changing joint angles.
  • the base and thus the robot
  • the base can be static during operation or even follow a trajectory.
  • One arm (or more) of the robot can also have an attachment, for example a handle or a tool or the like, with which objects can be picked up or processed.
  • the base and / or the attachment are parts of the robot and can therefore also be taken into account when calculating the safety areas.
  • the present invention is not limited to any specific embodiment of the automated machine and can have any desired forms and functions.
  • arms do not have to be present either, robot parts can move on rails or other supports.
  • the movement (positions and orientations over time) of the robot parts of the robot is called robot kinematics. In the case of robot arms, this essentially corresponds to the joint angles.
  • the contour of a robot is modeled in sections by a set of basic segments.
  • the basic segments can be of different sizes.
  • the safety area is then determined by expanding the basic segments in accordance with the robot path and taking into account the speed of the object violating the safety area.
  • the safety area itself is determined as a union of safety segments (as opposed to determining directly on the basis of a modeled hazard area).
  • a time-local safety area is a safety area which is calculated at a specific point in time to at which the safety area violation occurs.
  • a global time security area is calculated as the union of all possible local time security areas. These are time-local safety areas that are calculated for a robot path at each point in time to. A global security area therefore takes into account (models) security breaches at any point in time along the robot path.
  • a robot is initially represented by a plurality of balls. Such a representation is shown in FIG. Accordingly, the robot contour 8 is represented as a set of contour balls 8a, 8b, 8c, 8d, ... which contain (envelop) the entire modeled robot contour 8. Each contour sphere can have a different radius r contour sphere .
  • the set of spheres is referred to here as the set M of contour spheres.
  • Each contour ball thus represents a part of the danger area.
  • the complete set M of contour balls at one point in time is the total danger area of the pose of the robot at that point in time.
  • the pose of a robot is defined here by the joint angles of the respective joints 130 of the robot. In operation, the robot's pose typically changes over time.
  • the danger area ie the union of the contour balls) does not have to be calculated for the purpose of determining the safety area.
  • FIG. 4 is a schematic representation of a robot path accordingly a normal movement 1, a reaction movement 2 and a stopping movement 3 of a robot segment, or a contour ball modeling the robot segment.
  • a safety area violation occurs at any point in time t 0 during the robot path. From this point in time t 0 , the remaining robot movement is determined (calculated), for example on the basis of the robot and system data sheets.
  • a security area violation occurs when an object (e.g. a person) enters (violates) the current security area.
  • the current safety area in relation to the robot path intended for operation can be determined in any way - according to the invention or by another method.
  • the safety area violation can be detected by one or more sensors, for example by pressing a safety button or by a motion or image sensor.
  • the calculation of the reaction movement 2 and / or the stopping movement 3 can be preprogrammed and can depend on various parameters, e.g. on the relative position of the robot in relation to the object and / or the speed of the robot and / or the object.
  • the reaction movement 2 and the stopping movement 3 are calculated for each contour ball on the basis of the respective specific path 1 of the ball.
  • the path (2, 3) of a contour ball 4 after the safety area violation is represented, for example, by the position of the contour ball (4a to 4h) at the respective times t a to t h .
  • the original contour sphere 4 (which belongs to time t 0 and has a known radius 5) is copied to points 4a to 4h on the path points that result from the (step-by-step) calculated reaction and stop paths 2 and 3, as in FIG shown in FIG.
  • the danger area for a single contour ball 4 with radius 5, which represents a corresponding robot segment is shown in FIG. 5 at the respective reaction or stopping track times t a to t h (corresponding to the position of the contour balls 4a-4h).
  • the time resolution of the robot path (distance between adjacent points in time) for the contour balls 4a to 4h and the corresponding subsequent calculation of the safety areas can be configured.
  • the safety area calculated for the discrete points in time of the robot path approximates a safety area that results from a continuous movement path.
  • the illustration in FIG. 5 serves to explain the safety area model to be calculated.
  • the contour balls do not necessarily have to be copied by calculation. Rather, the position of the contour balls 4a to 4h determines the position of the safety balls to be calculated, which are then combined to form a safety area.
  • FIG. 6 shows the contour ball 4 at a point in time t d on the movement path 3 as the contour ball 4d.
  • the contour ball 4d is expanded by the amount 7d to form a safety ball 6d.
  • the symbol r contour sphere denotes the radius 5 of the contour sphere.
  • the speed v M is the speed of the object violating the safety area.
  • the speed can practically be, for example, the speed of a person.
  • the speed of a person or, in general, the speed of an object can be a constant given by a standard, for example with the amount of.
  • the present invention is not directed to any particular determination of the
  • Speed v m restricted This speed can be specified (for example by a standard), estimated (for example on the basis of the object, which can be a person, a robot, a vehicle or the like) and / or measured (for example at the point in time to).
  • a safety ball 6d is calculated at the time t (in this example t d ) by expanding the contoured ball 4d, in that for the contoured ball 4 the position 4d of the contoured ball at the time t corresponds to the position of a safety ball 6d, the radius 7d of Safety ball, however, is greater than the radius 5 of the corresponding contour ball 4d by an amount r exp , and the amount r exp depends on the point in time t (relative to the point in time to) and a predetermined speed v m of the object.
  • a safety area 9 of a robot segment (modeled by the contour ball 4) is then modeled by combining the set of safety balls 6a-6h at the respective times (f, ⁇ ⁇ t a , t b , t h ⁇ ) of the trajectory of the corresponding contour ball 4 . This is shown in FIG. This results in a number of associated respective safety balls 6a-6h for the positions (times of the movement path) of the contour ball 4.
  • a safety sphere is calculated for each approximated point in time t i of the reaction and stopping path.
  • the entire safety area of the robot 8 at any point in time to the robot path 1 then results from the combination of the safety areas which were calculated for each robot segment (modeled by respective contour balls 8a, 8b, 8c, 8d, ... of the set M).
  • the safety area 9 of the contoured ball 4 is only part of the safety area of the robot.
  • This safety area of the robot is referred to in the technical world as a "dynamic" or "time-local" safety area because it relates to the point in time at which the safety area is violated. In the practical implementation, it does not matter whether you first combine the safety balls using the points in time of the contour ball movement path in corresponding safety areas of the contour balls, which are then combined for all contour balls in the local safety area or vice versa.
  • the calculation can take place in any order as long as the time-local safety area is calculated as a union of individual safety balls, including all of the safety balls corresponding to the respective contour balls 8a, 8b, 8c, 8d of the set M at each of the successive points in time 4 integer i> 0, a robot path or a robot path section.
  • the robot path here is, for example, the reaction and / or stopping path until the robot comes to a standstill or another robot path after time t 0 .
  • the safety area calculation can also only be carried out for a part (section) of the robot path.
  • the robot path corresponds to a sequence of joint angles of the robot at the successive points in time t i with an integer i> 0.
  • the step of determining a safety area of the robot at a point in time t includes, for example, determining a robot path that contains the paths of the individual contour balls, the robot path following a reaction movement and / or a stopping movement, and determining the positions of the individual contour balls at time t based on the determined robot path.
  • the combination of all dynamic safety areas results in the "static" or "global time" safety area, ie a safety area that covers the entire robot path.
  • a step of calculating the time-global safety area includes determining the robot path as a combination of a set of time-local safety areas of the robot 8, which is calculated at all respective points in time to a complete robot path or a robot path section.
  • the complete robot path corresponds to a robot path before and after the point in time to.
  • the present invention also allows the global safety area to be calculated only for a section of the complete robot path.
  • the local safety area is related to the time of the safety area violation (and to the subsequent robot path).
  • the global safety area is related to the robot path of the robot in operation.
  • the global security area can be monitored by light barriers, for example.
  • a light barrier usually does not have the ability to monitor a different area at any point in time along the path.
  • Other monitoring means motion sensors, cameras, light scanners or the like
  • a contour ball is at a standstill from a point in time t j until the end of the determination of the time-local safety area (ie until the end of the robot path or the section), the amount remains constant for the time from t j.
  • Feature (d) alone offers an advantage because it allows the calculation of safety distances to fast-moving contour spheres that are clearly dependent on direction and speed.
  • the safety area is usually simply given the same size in all directions.
  • the feature (b) is advantageous because the robots can move very quickly. Further simplifications could lead to partially unsafe safety areas if the movement of the danger areas after the safety area violation is not considered or is only considered in a simplified manner.
  • FIGS. 8, 9 and 10 show area savings in time-local safety areas, calculated according to the embodiment of the invention (referred to as NeuA) compared to the safety areas calculated according to the prior art and as a function of the speed of the robot.
  • FIG. 9 shows comparisons of the time-local safety areas according to NeuA and according to the prior art for four exemplary robot speeds A1.
  • FIG. 10 shows an intermediate result of a simulation of the safety area according to the embodiment of the invention (NeuA) and the safety area simulated according to the prior art. The trajectories of the individual collision balls (contour balls) are visible within the NeuA safety area.
  • the safety area is present as a set of balls.
  • One such data format is in terms of the ratio of amount of data to accuracy of results attractively priced.
  • the result can also be converted into other formats, such as, for example, a 2D boundary point set (see FIG. 9) or a 3D boundary point set as shown in FIG. In FIG. 11, a robot 1110 moves on the robot path 1120.
  • the global-time 3D safety area that is calculated in relation to this robot path 1120 has a limit which is defined by the 3D boundary point set 1130.
  • a data format (a data structure) is provided.
  • Safety areas local and / or global) around a robot are electronically stored in the data format.
  • a safety area is defined by a number of balls, each ball is identified by its position (e.g. center point) and size (e.g. radius or diameter).
  • the position can be defined within any coordinate system, e.g. relative to the robot segments and / or contour balls. Saving a safety area using individual balls has the advantage of efficiency - saving as points on the 3D envelope is usually more complex than saving the individual balls.
  • the method for determining the safety areas can accordingly include a step of storing the position and the size of the safety balls, which represent a determined safety area.
  • the method can further include a reduction in the number of stored (to be stored) safety balls of a safety area, in which a ball that is completely contained in another ball is not saved. This step further helps reduce the amount of data to be stored.
  • the method can also contain a further reduction in the number of stored (to be stored) safety balls, in the case of which a ball that is completely contained in the envelope of a plurality of balls is not saved. This plurality can be limited to two, or a maximum of three or four, or more.
  • the present invention can advantageously be used in industrial robotics without protective fences or lightweight construction robotics, for example for industrial production. Further areas of application are in human-robot collaboration environments, in driverless transport systems (AGVs), or even in the field of autonomous driving (autonomous automobiles).
  • AGVs driverless transport systems
  • autonomous driving autonomous automobiles.
  • the determination of the safety area according to the invention can be replaced for any kinematics (a car is also a kinematics, only with different joint binding equations than the exemplary robot 8 described above).
  • the invention relates to the determination of a safety area around a robot, this being modeled by a set of safety balls.
  • a safety ball corresponds in position to a contour ball which envelops a robot segment at a point on the robot path.
  • This representation is modular and thus allows the dynamic safety areas to be determined after a safety area violation.
  • the safety area determination according to the invention can be used for any safety areas, e.g. local or global, but also for sub-areas based on a subset of the robot contour balls and / or a subset of the robot path from the safety area violation.
  • the present invention can also be used to determine a safety area around a plurality of robots.
  • FIG. 12 shows the ball as a basic segment.
  • a robot segment for example a part of a robot arm, is shown here as a cylinder with radius r and height 2h, which is modeled (filled) by the contour sphere with a radius R.
  • the term collision segment (KS) is used for the contour ball.
  • the same cylindrical robot segment is modeled in section (b) by a CS in the shape of a cuboid and in section (a) by a CS in the shape of a cylinder.
  • a cuboid has 3 parameters (a, b, c) and a cylinder 2 parameters (r, h), which makes these basic shapes more complex to calculate and store.
  • collision segments with shapes other than a sphere ie with shapes different from the sphere, could better follow the shape of the robot and thereby represent the robot contour more precisely, as can be seen, for example, from section (a), in which a substantially cylindrical Robot segment is modeled by a cylindrical CS.
  • embodiments are possible in which a subset of robot segments are modeled by balls and another subset of robot segments are modeled by cylinders or other shaped KS.
  • alternative Guide shapes are based entirely on a KS shape, which, however, is different from the sphere, for example a cylinder or cuboid.
  • a KS completely envelops a robot segment.
  • embodiments are also possible in which a KS only partially, i.e. essentially, envelops a robot segment.
  • V cylinder ⁇ r 2 .2h.
  • r 2 R 2 - h 2 .
  • the volume of the cylinder can be represented in relation to the KS as follows:
  • V cylinder ⁇ . (R 2 - h 2 ).
  • 2h 2 ⁇ R 2 h - 2 ⁇ h 3
  • V cylinder 2 ⁇ R 2 - 6 ⁇ h 3
  • FIG. 13 shows a robot arm modeled by a set of contour balls (collision segments).
  • the robot arm contains two joints Ga and Gb which are modeled by respective KS, namely KSO and KSn. Between these joints there are further (in this example 3) KS.
  • the present invention is not limited to any particular division of the robot into robot and collision segments. In general, it is desirable for the KS to enclose the robot as closely as possible. For some applications, however, one could also be interested in keeping the amount of KS smaller.
  • the spherical CS are very flexible and support any optimization conditions in this regard, which take into account both the amount of CS required and the spatial extent of the CS.
  • the modeling of a danger area of the robot includes the step of calculating a number (n + 1) of the contour balls between two joints Ga and Gb des Robot, with the diameter of a circle corresponding to the intersection between two contour spheres essentially corresponding to the width of the robot arm (or including the section of the robot arm completely), ie within KS1KS2 robot arm width.
  • the present invention is particularly advantageous for calculating the safety area after a safety area violation has occurred.
  • the calculation can depend on the robot path after the safety area violation.
  • the robot trajectory after the safety area violation can in turn depend on what type of safety area violation took place.
  • the inventive concept is based on the modeling of a robot contour using basic segments which form the basis for the respective individual collision segments.
  • the collision segments have a size that changes depending on the estimated or measured speed of the object that caused the safety area violation. This concept is very flexible and can be further adapted to specific areas of application.
  • Figure 15 shows how security areas can be calculated in three functional modules.
  • a first module 810 robot-related collision segments are calculated.
  • the entire robot kinematics is divided into collision segments and modeled.
  • a basic shape of the CS is selected first (e.g. sphere).
  • the selection of the basic shape does not have to take place and all CS can simply be spherical, since the sphere is particularly advantageous for the real-time calculation.
  • This selection can be made for modeling all CS of the robot (i.e. one selection for all CS), or by robot segment, depending on the shape of the robot segment. For example, the difference between the volume of the robot segment and the KS can be minimized or a cost function can be optimized with several parameters.
  • an enveloping body consists not only of one contour point, but theoretically an infinite number of contour points, at least an appropriately distributed number of contour points (adequate resolution) must be considered so that the safety areas can be reliably determined.
  • spherical KS are particularly advantageous for the further processing of the ball collection, which is composed of the individual expanded safety balls.
  • the set of edge points for example as shown in FIG. 9 or 11
  • the set of boundary points safety area
  • the spheres that represent a subspace of one (or more) larger spheres do not need to be used in the following calculation of the set of boundary points to be considered more. You can discard these, ie you no longer need to save them and / or no longer take them into account in the further calculation.
  • Such a step of the safety ball reduction allows further acceleration of the calculation and reduction of the storage capacity required for the storage.
  • the number of collision segments is calculated (see FIGS. 13 and 14).
  • This number of collision segments can also be called “optimal” if it is calculated on the basis of an optimization, e.g. on the basis of a cost function.
  • the module 1 thus provides a model of this robot for a robot through a number of collision segments which essentially or completely contain the contour of the robot, i.e. envelop the robot.
  • a second module with the reference number 820 is responsible for the calculation of path-related safety segments. As already mentioned above, these can contain individual security balls (security segments), time-local and time-global security segments.
  • Sub-module 822 computes Local Safety Segments, LSS, which correspond to the safety spheres mentioned above.
  • Sub-module 824 calculates global safety segments, GSS, which correspond to the above-mentioned time-local safety areas (for a safety sphere).
  • Sub-module 826 calculates universal security segments, USS, which correspond to the global security areas.
  • a robot consists of collision segments KS 0 ⁇ KS n . These (each such KS) KS move on the robot path from Gt 0 ⁇ Gt k .
  • a local security segment LSS KSn (Lt 0 ) at time Lt 0 is equal to a collision segment 910 KS n ((Gt x )).
  • R Lssksn (Lt 0 ) R KSn (Gt x ) applies.
  • An LSS 940 is represented by a dashed line.
  • the center of each LSS lies on the robot path 900.
  • Sr corresponds to the start of the reaction path and Ss corresponds to the start of the stop path.
  • the area 990 represented by the thick dash-dot line corresponds to a global safety segment GSS KSn (Gt x ) at a global point in time Gt x at which the safety area violation took place.
  • Each collision segment KS n has a global safety segment GSS KSn (Gt x ) at a global point in time Gt x .
  • a global security segment here corresponds to the above-described time-local security area for a security sphere and contains several local security segments LSS KSn (Lt 0 ) ⁇ LSS KSn (Lt m ) for the local time from Lt 0 ⁇ Lt m .
  • the robot safety segment RSS (Gt x ) at a global point in time Gt x contains all global safety segments of the collision segments KS 0 ⁇ KS n ; ie GSS KS0 (Gt x ) ⁇ GSS KSn (Gt x ).
  • FIG. 17 shows a plurality of KS of a robot arm. Each of these segments moves on its own path, the paths of individual CS form the robot path.
  • FIG. 18 shows that each collision segment KS n has a universal safety segment USS KSn, which consists of global safety segments GSS KSn (Gt 0 ) ⁇ GSS KSn (Gt k ) at the global time of Gt 0 ⁇ Gt k .
  • GSS KSn global safety segments
  • Gt k global safety segments
  • the corresponding robot universal safety segment RUSS can be described as including:
  • the area violation safety function and robot universal safety segments RUSS assume that the robot is a blind system and that a human can enter from anywhere, that is, the robot universal safety segment RUSS can be used as a static safety area.
  • a third module 830 calculates operating mode safety segments, ie takes the operating mode and in particular the safety functions into account when calculating the safety segments.
  • SSM Speed and separation monitoring
  • HG Hand guiding
  • PFL Power and force limiting
  • the security area violation described above can, for example, relate to the security function of the SRMS and SSM operating modes, as shown in the table. If such a safety area violation occurs as a result of a human having entered the hazardous area, the robot must be stopped. This can be done through the reaction and stopping motion. In general (e.g. in an alternative operating mode), however, following a security breach, the robot can alternatively follow its usual path, but thereby reduce its speed, or power and / or force.
  • the human position relative to the robot is such that the robot cannot stop before it can collide with the human. This can be detected by the monitoring from the security area. In such a case, the speed of the robot can be reduced until it stops and the path can be changed.
  • contact collision
  • the robot safety segments RSS correspond to the dynamic safety areas. These areas are linked to the robot path from Gt 0 to Gt k and are updated regularly (within a cycle time). Of the Human can work near the robot path, but only outside the robot safety segments. In the discrete case, several areas of cooperation can be defined. The robot will adjust its speed based on the human position in (relative to) these areas. Robot cooperation segment ROS (Gt x ) can then be calculated using the GSS. For example, a robot cooperation segment can be determined by spatial expansion of the corresponding robot safety segment.
  • FIG. 20 shows an example in which all points of the human segment MS (Gt x ) are checked against RSS (Gt x ) at the point in time Gt x.
  • the human segment MS (Gt x ) can then be divided into three segments HS1 (Gt x ), HS2 (Gt x ), HS3 (Gt x ), as in the Figure 21 shown.
  • this calculation method all points of HSl (Gt x), HS2 (Gt x), HS3 (Gt x) x at time Gt against RSS (Gt x) tested.
  • this module 830 is the further adaptation of the safety segments with regard to the required safety functions in all different operating modes.
  • FIG. 22 is a schematic illustration which shows the operating mode (PFL) with contact detection and force monitoring.
  • PFL operating mode
  • the PFL operating mode and restricted framework conditions such as maximum forces and / or torques, which are predefined in the ISO 15066 standard, contact with certain parts of the body is permitted.
  • the calculated safety areas e.g. GSS ksn (Gt x )
  • GSS ksn (Gt x ) can be reduced and converted to the permitted forces.
  • contact is allowed as long as a limit force is not exceeded.
  • the maximum permitted force Fmax is assumed, which is less than or equal to a limit force.
  • the limit force can be specified by a standard and / or determined on the basis of empirical tests with a large number of test persons.
  • the human body can be modeled as a feather.
  • the spring constant k is empirically predetermined (i.e. predetermined) for a person.
  • the robot's kinetic energy AEkin is equal to the potential energy Epot and the following applies: .
  • m H represents the human mass
  • m R the robot mass
  • V H the speed of the human
  • V R the speed of the robot.
  • V H ZB can be predetermined or measured. From the maximum force Fmax (less than or equal to the limit force) the permitted speed V R can be determined as follows:
  • the method for determining a safety area includes a step in which the robot path is determined.
  • the robot path ends at a point in time t x at which the robot has a speed VR (V R > 0) and the speed V R is calculated on the basis of a predetermined maximum force which the robot can exert on the object.
  • FIG. 22 shows a global cooperation segment GOS ksn of the collision segment KS n at a global point in time Gt x .
  • the global cooperation segment is determined on the basis of the security area GSSksn. In this example (PFL) this is the safety area GSSksn (t x ) at time t x in which the robot reaches the permitted speed. In other examples (eg with SSM), GSSksn is determined at a point in time when the robot reaches zero speed.
  • the determined security area can be used in different ways.
  • the robot path follows the reaction movement and / or the stopping movement if the safety area violation was detected by actuating a safety switch.
  • the robot path follows a movement intended for normal operation of the robot if the safety area violation was not detected by actuating the safety switch.
  • This embodiment is only one of the possible implementations and corresponds to the different treatment of "Stop 0" and "Stop 1" named types of security breaches, defined in the standard DIN EN ISO 13850.
  • the robot path can be used from time to according to the type of Safety area violation can be determined, and this specific path can then be used further to calculate the time-local or time-global safety area.
  • a robot path determines a sequence of times tx, with an integer x> 0 and the associated positions of the contour balls.
  • the safety area of the robot can be determined again at each of the times tx.
  • the security area violation can then be detected in relation to the newly determined security area.
  • the orientation of one or more sensors can be adjusted in accordance with the determined safety area. This adaptation preferably follows that of the position / extent of the newly calculated safety area.
  • the term “sensor” is to be understood broadly here. It can be a light barrier, light curtain, motion sensor, camera (image sensor), or other types of sensor.
  • a safety button is also a sensor.
  • the sensor and the modeling of the safety area can be 2D or 3D.
  • a 2D safety area is shown with the help of circles.
  • a circle is a projection of a sphere onto a surface. By projecting the 3D balls (safety balls) determined as above onto a surface (e.g. floor area / hall floor), a 2D safety area can then be determined.
  • the object can be a human being and the method can furthermore comprise the capturing of a head and / or one or both hands of the human being as separate human segments, as well as determining, for each human segment, whether the human segment violates the safety area in one of the safety spheres .
  • the object can be an object other than a human.
  • the object can be another robot, or a plurality of other robots.
  • the method described above for determining the safety areas can be used accordingly, e.g. for calculating the interlocking areas.
  • a safety area calculating device for calculating the safety area, comprising: modeling a danger area of the robot by a set of contour balls which includes the robot contour; Determination of a safety area of the robot at a point in time to comprising a quantity of safety balls at a point in time t, where: (a) the point in time t is later than the point in time t 0 at which a safety area violation by the object was detected as having occurred, (b) for a contour sphere: the position of the contour sphere at time t corresponds to the position of a safety sphere, the radius of the safety sphere is greater by an amount than the radius of the corresponding contour sphere, and the amount depends on the point in time t and a predetermined speed of the object.
  • the device 2340 can be implemented by one or more processors.
  • the device 2340 can furthermore comprise a sensor controller for controlling the alignment of the sensor, the sensor being able to detect the position and / or movement of the object.
  • FIG. 24 summarizes the method according to the invention again.
  • the robot segments are determined.
  • corresponding collision segments are determined for the robot segments.
  • a safety area is determined.
  • step S2440 the robot path and / or in step S2450 the position and / or orientation of the sensors can be determined.

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

Abstract

La présente invention concerne la détermination de zones de sécurité autour d'une machine à fonctionnement automatique (robot). Des segments de robot sont modélisés par des sphères de contour respectives. Des zones de sécurité autour du robot sont ensuite calculées par expansion des sphères de contour individuelles en sphères de sécurité, l'expansion dépendant de la vitesse de l'objet (par ex., une personne) qui a franchi la zone de sécurité.
PCT/EP2021/057151 2020-03-20 2021-03-19 Détermination de zones de sécurité autour d'une machine à fonctionnement automatique WO2021186068A1 (fr)

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