WO2022037414A1 - 安全控制方法、装置、工业机器人及计算机存储介质 - Google Patents

安全控制方法、装置、工业机器人及计算机存储介质 Download PDF

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Publication number
WO2022037414A1
WO2022037414A1 PCT/CN2021/110732 CN2021110732W WO2022037414A1 WO 2022037414 A1 WO2022037414 A1 WO 2022037414A1 CN 2021110732 W CN2021110732 W CN 2021110732W WO 2022037414 A1 WO2022037414 A1 WO 2022037414A1
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Prior art keywords
safety
input signal
robot
test pulse
perform
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PCT/CN2021/110732
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English (en)
French (fr)
Inventor
孙恺
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苏州艾利特机器人有限公司
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Priority claimed from CN202010847428.5A external-priority patent/CN114076852B/zh
Application filed by 苏州艾利特机器人有限公司 filed Critical 苏州艾利特机器人有限公司
Publication of WO2022037414A1 publication Critical patent/WO2022037414A1/zh

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    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors

Definitions

  • the present invention relates to the field of industrial robots, in particular to a safety control method, device, industrial robot and computer storage medium including an OSSD signal verification mechanism.
  • Industrial robots are multi-joint manipulators or multi-degree-of-freedom robots mainly facing the industrial field.
  • Industrial robots include traditional industrial robots and collaborative robots.
  • collaborative robots can cooperate with people to complete work efficiently, and can complete work in dangerous environments with high precision and high efficiency, so they are favored by more and more users.
  • Collaborative robots need to interact and cooperate closely with people in their work. Therefore, for collaborative robots, work safety is a core performance indicator.
  • Conventional collaborative robots already have a number of safety detection mechanisms, such as speed monitoring and torque monitoring. Safety for users of collaborative robots working together.
  • the industrial robot When the industrial robot is working, it can receive the input signal of the external safety equipment to judge the safety of the robot's working environment.
  • the traditional industrial robot usually works in the area enclosed by the fence. When the fence is opened, the robot receives the signal. to stop performing work to avoid injury to the intruder. If the signal cannot be accurately detected, it will bring a great security risk to the user.
  • the purpose of the present invention is to provide a safety control method, device, industrial robot and computer storage medium with good safety.
  • a safety control method applied to an industrial robot, the safety control method is used to detect the safety risk of the robot and control it to perform safety actions, and the method includes: receiving an input signal from a safety device , the input signal includes a test pulse for verifying whether the input signal is normal; judges the level state of the input signal; when the input signal is at a low level, the robot is controlled to perform a safety action; when the input signal is at a high level, Determine whether the period and duration of the test pulse of the input signal are in the preset first parameter interval and the second parameter interval, respectively. If the period and duration meet the requirements, control the robot to run normally. If the period and duration are at least One does not meet the requirements, and controls the robot to perform safe actions.
  • the method includes: when receiving at least two input signals, judging the level states of the at least two input signals respectively, and when there is a low level input signal, controlling the robot to perform a safety action; when the at least two input signals are present When both input signals are at high level, it is judged whether the period and duration of the test pulses meet the requirements, and when at least one of the at least two input signals does not meet the requirements, the robot is controlled to perform safe actions.
  • the first parameter interval is [10ms, 1000ms]
  • the second parameter interval is [10us, 1000us].
  • the first parameter interval is [10ms, 500ms]
  • the second parameter interval is [50us, 500us].
  • the input signal comes from at least one of a safety light curtain, a safety laser scanner, and a safety door lock.
  • the method includes: when the input signal is at a high level, detecting whether there is setting information for the user to enable the verification function, and judging whether the period and duration of the test pulse meet the requirements only when the setting information exists.
  • a safety control device applied to an industrial robot, the safety control device is used to control the robot to perform safety actions when there is a safety risk
  • the safety control device comprises: an input module, for receiving an input signal from a safety device, the input signal including a test pulse for verifying the normal operation of the input signal; a logic processing module for processing the input signal and generating an output signal indicating a safety risk to the robot ; an output module, used to control the robot to perform safe actions when indicating that the robot has a safety risk according to the output signal;
  • the output module controls the robot to perform safe actions; when the input signal is at a high level, the logic processing module determines whether the period of the test pulse is within the preset first parameter range, and judging whether the duration of the test pulse is within a preset second parameter range, and when either of the period and the duration does not meet the requirements, the output module controls the robot to perform a safety action.
  • the safety control device includes a first control module and a second control module, and the first control module and the second control module are respectively used to control the robot to perform safety actions when there is a safety risk.
  • the robot when any one of the first control module and the second control module detects that the input signal is at a low level, the robot is controlled to perform a safety action; when both the first control module and the second control module detect the input signal When the level is high, when any one of the first control module and the second control module detects that the period and duration of the test pulse do not meet the requirements, the robot is controlled to perform a safety action.
  • the first parameter interval is [10ms, 1000ms]
  • the second parameter interval is [10us, 1000us].
  • the first parameter interval is [10ms, 500ms]
  • the second parameter interval is [50us, 500us].
  • the input signal comes from at least one of a safety light curtain, a safety laser scanner, and a safety door lock.
  • the logic processing module is configured to detect whether there is setting information for the user to enable the verification function, and only when the setting information exists, judge whether the period and duration of the test pulse meet the requirements.
  • an industrial robot comprising a base and a mechanical arm
  • the mechanical arm can be used to connect a tool to perform work
  • the industrial robot includes the safety control device described in any one of the foregoing.
  • the present invention is also used to protect the following technical solution: a computer storage medium, on which a computer program is stored, and when the computer program is executed by a processor, any one of the aforementioned methods is implemented.
  • the beneficial effects of the specific embodiments of the present invention are: providing an OSSD verification mechanism for the input signal of the safety device, that is, reconfirming the reliability of the input signal from the safety device, and in the presence of an effective The reliability of the test pulse is confirmed.
  • the robot is controlled to perform safe actions, thereby improving the safety of the industrial robot.
  • FIG. 1 is a schematic diagram of a safety control device according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a module of a safety control device according to an embodiment of the present invention.
  • FIG. 3 is a working schematic diagram of a safety control device according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a module of a safety control device according to another embodiment of the present invention.
  • Fig. 5 is a working flow chart of the safety control device described in Fig. 4
  • FIG. 6 is a schematic diagram of an industrial robot according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a security control method according to an embodiment of the present invention.
  • FIG. 1 shows a schematic diagram of a safety control device 100 according to an embodiment of the present invention.
  • the safety control device provided by the present invention is suitable for ensuring industrial robots. and control the industrial robot to perform safety actions when there is a safety risk.
  • the safety actions include controlling the robot to alarm, decelerate or stop, etc. to attract the user's attention or reduce the operation risk of the robot.
  • the safety control device 100 can receive input signals from the safety equipment 200, process the input signals to generate output signals, and the output signals are used to control the robot to perform safety actions.
  • 3 shows a schematic block diagram of the safety control device 100 according to an embodiment of the present invention.
  • the safety control device 100 provided by the present invention can be used to ensure the working safety of the robot, that is, when the safety control device 100 determines that the robot meets the safety conditions, Control the robot to run normally. When it is judged that the robot does not meet the safety conditions, that is, when the robot has a safety risk, the robot is controlled to perform safe actions to ensure the safe operation of the robot.
  • FIG. 2 is a schematic block diagram of a safety control apparatus according to an embodiment of the present invention.
  • the safety control apparatus includes an input module 110 for receiving an input signal from a safety device 200, and the input signal includes an input signal for checking A test pulse for whether the input signal is operating normally, that is, an OSSD verification signal; the logic processing module 111 is used to process the input signal to generate an output signal indicating the safety risk of the robot; the output module 120, the output module 120 is used for Control the robot to perform safe actions when the robot is instructed to be at risk according to the above output signal.
  • the industrial robot can receive an input signal of an external safety device 200 in a working environment, and evaluate and process the input signal to determine an output signal, wherein the input signal usually includes a test pulse for verifying the input Whether the signal is running normally, that is, including the verification of the OSSD (Output signal switch device) signal, and only when the input signal can run normally, it is possible to obtain the correct output signal.
  • the input signal usually includes a test pulse for verifying the input Whether the signal is running normally, that is, including the verification of the OSSD (Output signal switch device) signal, and only when the input signal can run normally, it is possible to obtain the correct output signal.
  • OSSD Output signal switch device
  • the safety control device 100 is used for, when the input signal is at a low level, the output module 120 controls the robot to reduce damage or stop; when the input signal is at a high level, the logic processing module 111 judges the input Whether the period of the test pulse of the signal is in the preset first parameter interval, and whether the duration of the test pulse is in the preset second parameter interval, when either of the period and the duration does not meet the requirements, The output module controls the robot to perform safety actions.
  • the above-mentioned safety device 200 is usually a safety device set in the working environment of the industrial robot, the safety device can notify the industrial robot when there is an unsafe factor in the working environment, and the safety control device 100 of the industrial robot can receive the indication. Perform corresponding actions when notified of unsafe factors, such as performing safety actions, to ensure the safe operation of the robot.
  • the safety control device 100 can receive an input signal from at least one of a safety light curtain, a safety laser scanner, a safety door lock, and an emergency stop switch, that is, the safety device 200 is correspondingly a safety light curtain, a safety door lock, and an emergency stop switch. Laser scanners, safety door locks, emergency switches, exemplarily via which the industrial robot can be switched off in a dangerous situation.
  • the safety light curtain is taken as an example for description.
  • a safety light curtain is an OSSD device, which is designed to automatically generate a signal indicating each state of the light curtain. If the light curtain is working properly, the light used to determine the safety state is not interrupted by foreign intruding objects.
  • the safety control device 100 sends the input signal, the safety light curtain continuously detects whether there is an intruding object in the working environment, for example, continuously detects whether someone breaks in, the safety control device 100 can receive the detection signal of the safety light curtain , that is, the input signal of the input module 110 of the safety control device 100 is the detection signal of the safety light curtain.
  • FIG. 3 is a working schematic diagram of the safety control device 100 according to an embodiment of the present invention.
  • the safety control device 100 can receive the input signal 10 from the safety device 200.
  • the safety device 200 is taken as an example of a safety light curtain.
  • the safety light curtain can detect the intrusion of foreign objects in the working environment and generate a detection signal.
  • the input module 110 of the safety control device 100 can receive the input signal 10 from the safety light curtain, and the logic processing module 111 evaluates the input signal 10 or, if necessary, the logic processing module 111 evaluates the input signal 10 and its test pulses 12 to An output signal is generated.
  • the input signal 10 includes the test pulse 12 .
  • the test pulse 12 can verify whether the input signal 10 is normal. Based on the normal input signal 10 , the safety control device 100 can accurately judge the working environment.
  • the detection signal is at a low level, that is, the input signal 10 is at a low level, and the output module controls the robot to perform safety actions; when the input signal 10 is at a high level
  • the preliminary judgment according to the input signal 10 is that the safety light curtain has not detected an intruding object. In this case, it is not simply judged that there is no intruding object in the working environment, but it is further judged that the high level signal is accurate.
  • the input signal 10 includes the test pulse 12, that is, the OSSD function, that is, the output signal switch device, and the OSSD can judge whether the input signal is normal as the characteristic of the input signal, that is, under the premise that there is an effective OSSD check, the safety light
  • the detection signal of the screen can be accurately reflected.
  • the safety control device 100 provided by the present invention can detect whether the test pulse 12 is running normally, that is, when there is a test pulse running normally, it can be considered that the current input signal 10 is correct, and if the normal running test pulse cannot be detected
  • the test pulse 12 that is, there is a problem with the verification of the input signal 10 , and the reliability of the input signal 10 itself is low.
  • the output module 120 controls the robot to perform safe actions. Specifically, when the input signal 10 is at a high level, the logic processing module 111 judges whether the period T of the test pulse 12 of the input signal 10 is within the preset first parameter range, and judges whether the duration d of the test pulse 12 is not In the preset second parameter interval, when any one of the period T and the duration d does not meet the requirements, the output module controls the robot to perform a safe action.
  • the duration d and period T of the test pulse 12 are determined to determine whether there is a valid test pulse. pulse. That is, when both the duration d and the period T of the test pulse 12 meet the requirements, it is judged that there is a valid test pulse, and when either the duration d and the period T of the test pulse 12 do not meet the requirements, it is judged that there is no valid test pulse. test pulse.
  • the test pulse 12 includes a preset first parameter interval and a second parameter interval, when the period T of the test pulse 12 is in the preset first parameter interval, and the duration d of the test pulse 12 is in the preset first parameter interval.
  • the test pulse 12 is an effective test pulse.
  • the first parameter interval is [10ms, 1000ms]
  • the second parameter interval is [10us, 1000us]. Selecting this range can cover almost all scenarios of security equipment. Further, the first parameter interval is [10ms, 500ms], and the second parameter interval is [50us, 500us].
  • the first parameter interval is [10ms, 500ms]
  • the second parameter interval is [50us, 500us]
  • the period T of the test pulse 12 needs to be greater than or equal to 10ms and less than or equal to 500ms
  • the test pulse The duration d of 12 needs to be greater than or equal to 50us and less than or equal to 500us, and the period and duration of the test pulses of different safety devices are also different, so that the first parameter interval and the second parameter interval selected by the present invention can be used. It covers more products on the market, and at the same time, it will not introduce too much interference and cause misjudgment because the parameter range is too large, or the adaptability to the safety equipment is poor because the parameter range is too small.
  • the logic processing module is configured to judge whether the period and time of the test pulse meet the requirements only when receiving the setting information from the user to enable the verification function. That is, the logic processing module can choose to perform the determination of the test pulse, and not to perform the determination of the test pulse, whether to perform the determination of the test pulse based on whether the setting information from the user is received.
  • safety equipment There are many types of safety equipment.
  • the input signal of some safety equipment includes test pulse, but there are also safety equipment whose input signal does not include test pulse. When the input signal of safety equipment does not include test pulse, if the test pulse is detected, it will be Misjudgment occurred.
  • the industrial robot usually includes a robot teach pendant. The user can set whether to activate the function of judging the test pulse through the teach pendant. When the user's setting enables the function of judging the test pulse, the judgment of the test pulse is performed to avoid misjudgment.
  • the safety control device 100 can receive the input signal 10 from the safety device 200, process the input signal to generate the output signal.
  • FIG. 4 shows a schematic block diagram of the safety control apparatus 100 of this embodiment.
  • the safety control apparatus 100 includes a first control module 1 and a second control module 2.
  • the first control module 1 and the second control module 2 are respectively used to control the robot to perform safety actions when there is a safety risk.
  • the first control module 1 and the second control module 2 have two sets of The same constituent components, when the safety control device 100 performs work, the first control module 1 and the second control module 2 each perform work respectively, and the first control module 1 and the second control module 2 have the same structure
  • the safety control device 100 includes an input module 110, a logic processing module 111, and an output module 120, that is, the first control module 1 and the second control module 2 respectively include an input module, a logic processing module and an output module module, the first control module 1 and the second control module 2 can be used to perform safety judgment respectively, that is, the first control module 1 and the second control module 2 can respectively perform the aforementioned
  • the input module receives
  • the logic processing module processes the input signal, and when the input signal is at a low level, controls the industrial robot to perform a safety action; when the input signal is at a high level, judges the test signal of the input signal Whether the period and duration meet the requirements.
  • FIG. 5 is a working flow chart of the safety control device of the embodiment shown in FIG. 4 , that is, the working flow when the safety control device 100 includes the first control module 1 and the second control module 2 .
  • the first control module 1 and the second control module 2 perform work respectively, and the first control module 1 and the second control module 2 respectively judge whether the input signal is at a low level. If the first control module 1 and the second control module 2 If any one of them judges that the input signal is at a low level, the robot will be controlled to perform a safe action; if both the first control module 1 and the second control module 2 judge that the input signal is at a high level, they will detect the test of the input signal respectively.
  • the first control module 1 judges that the period T of the test pulse is in the first parameter range, the duration d is in the second parameter range, and the second control module 2 judges The period T of the test pulse is in the first parameter range, and the duration d is in the second parameter range, then it is determined that the test pulses of the first control module 1 and the second control module 2 both meet the requirements, which means that the test pulse from the safety device 200 is at this time.
  • the input signal does not indicate that there is an unsafe factor in the environment, that is, the industrial robot is controlled to perform a safe action, otherwise, the robot operates normally.
  • the safety control device 100 that is, the first control module 1 and the second control module 2 respectively perform judgment and control, which further improves the safety performance of the safety control device.
  • the beneficial effect of the above preferred embodiment is to provide a detection mechanism for the OSSD signal of the safety equipment, further improve the reliability of the detection signal of the safety equipment, weaken the possibility of misjudgment, and improve the safety of the safety control device, and at the same time,
  • the dual-channel safety control device is adopted, which further improves the reliability of the safety control device.
  • the present invention is also used to provide an industrial robot.
  • the industrial robot 300 includes any of the safety control devices described above.
  • the safety control device is one of the core components of the industrial robot 300.
  • the industrial robot 300 especially a new type of collaborative robot, the reliability of the safety control device will greatly affect the working performance of the robot, and the industrial robot 300 provided by the present invention is preferably a collaborative robot.
  • the industrial robot 300 generally includes a base 310 and a robotic arm 320.
  • the robotic arm can be connected to a tool 330 to perform work tasks.
  • the industrial robot 300 also includes necessary software configurations.
  • the industrial robot 300 of this embodiment includes the aforementioned Any of the safety control devices can ensure the safe operation of the industrial robot 300, and control the industrial robot 300 to perform safe actions when there are unsafe factors in the operating environment of the industrial robot 300.
  • the present invention is also suitable for providing a safety control method, which is applied to an industrial robot.
  • the safety control method is used to control the robot to perform safety actions when there is a safety risk.
  • the method includes: S1. S2, determine the level state of the input signal; S3, when the input signal is low, control the robot to perform safety actions S4, when the described input signal is high level, judge whether the cycle T and duration d of the test pulse of the input signal are respectively in the preset first parameter interval and the second parameter interval, if the cycle T and duration d meets the requirements, the robot is controlled to run normally, and if at least one of the period T and the duration d does not meet the requirements, the robot is controlled to perform safe actions.
  • the robot needs to be controlled to perform a safety action; when the input signal 10 is at a high level Usually, it means that the current security device 200 may not detect unsafe factors in the environment. In this case, the reliability of the input signal 10 needs to be reconfirmed to determine whether the high-level signal at this time is indeed reliable enough. Indicates that there is no unsafe factor in the working environment.
  • the period T and duration d of the test pulse it can be confirmed whether there is an effective test pulse. An effective test pulse can make the input signal 10 more reliable. Therefore, it is judged that there is an effective test pulse. When testing the pulse, it can be confirmed that when the input signal 10 is at a high level, the input signal is trustworthy.
  • the safety device 200 can generate at least two input signals 10 to the safety device 200. There are two input signals from the safety device, correspondingly including two test signals.
  • the safety control method can evaluate the above two inputs respectively. When the two input signals are at high level, the test pulses are verified respectively, and when any test pulse does not meet the requirements of the preset first parameter interval and the second parameter interval, the robot is controlled to perform safe actions.
  • the safety device 200 can respectively execute the safety control method based on the above at least two input signals, that is, respectively receive the at least two input signals and evaluate the two input signals respectively, that is, the safety control method includes receiving the safety device 200
  • the at least two input signals are evaluated respectively, and each of the at least two input signals has an OSSD safety verification function, that is, the safety control method is used for each input signal respectively.
  • the period of the test pulse is in the first parameter interval, ie [10ms, 1000ms]
  • the duration d of the test pulse is in the second parameter interval, [50us, 500us]
  • the control robot runs normally.
  • the input signal from the safety device usually has the OSSD function, that is, it is necessary to confirm whether there is a valid test pulse by limiting the first parameter interval and the second parameter interval, and the period and duration of the test pulse of different safety devices are also different.
  • the first parameter interval and the second parameter interval are selected, so that the first parameter interval and the second parameter interval selected by the present invention can cover more products on the market, and at the same time It will not introduce too much interference and cause misjudgment because the parameter interval selection is too large, or the adaptability to the safety equipment is poor because the parameter interval selection is too small.
  • the realization of each process of the security control method is consistent with the security control device described above, and details are not repeated here.
  • the period and duration of the test pulse it is detected whether the period and duration of the test pulse meet the conditions to determine whether there is an effective test pulse.
  • the period of the test pulse may be an irregular period.
  • the period of the pulse is a pulse.
  • the duration and interval of the test pulse are determined by judging the period and duration of the test pulse to confirm the validity of the test pulse. For others skilled in the art, simple deformations can be made based on this, such as detecting the interval and duration of the test pulse.
  • the duration determines whether the test pulse is a valid test pulse, which of course also belongs to the protection scope of the present invention.

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Abstract

一种安全控制方法、装置、工业机器人及计算机存储介质，安全控制方法包括：接收来自安全设备的输入信号（S1），输入信号包括用于校验输入信号是否正常的测试脉冲；判断输入信号的电平状态（S2）；当输入信号为低电平时，控制机器人执行安全动作（S3）；当输入信号为高电平时，判断输入信号的测试脉冲的周期和持续时间是否分别处于预设的第一参数区间和第二参数区间，若周期和持续时间满足要求，控制机器人正常运行，若周期和持续时间至少其一不满足要求，控制机器人执行安全动作（S4）；确保输入信号的可信度，提高工业机器人的安全性。

Description

安全控制方法、装置、工业机器人及计算机存储介质 技术领域
本发明涉及工业机器人领域，特别是涉及包括OSSD信号校验机制的安全控制方法、装置、工业机器人及计算机存储介质。
背景技术
随着社会的发展，机器人开始广泛应用于多个领域，例如家用机器人、工业机器人、服务机器人等。工业机器人是主要面对工业领域的多关节机械手或多自由度机器人，工业机器人包括传统的工业机器人以及协作机器人。协作机器人作为工业机器人中的轻型机器人，能够与人协作高效的完成工作，可以高精度和高效率的完成危险环境的工作，因此受到越来越多用户的青睐。
协作机器人在工作中，需要与人近距离的互动合作，因此，对于协作机器人而言，工作的安全性是一核心性能指标。常规的协作机器人已经具有多项安全性检测机制，例如速度监控、力矩监控等，但对于协作机器人与人近距离接触的工作场景而言，需要持续加强对安全性的监测及处理，以确保与协作机器人协同工作的用户的安全性。
工业机器人在工作中，能够接收外部的安全设备的输入信号，以判断机器人工作环境的安全性，例如，传统工业机器人通常在栅栏围起来的区域中工作，当打开栅栏时，机器人接收到该信号以停止执行工作，以避免对闯入的人的伤害。如果不能对该信号进行准确的检测，将为用户带来极大的安全性风险。
发明内容
鉴于此，本发明的目的在于提供一种安全性好的安全控制方法、装置、工业机器人及计算机存储介质。
本发明可采用如下技术方案：一种安全控制方法，应用于工业机器人，所述安全控制方法用于检测机器人存在安全风险时控制其执行安全动作，所述方法包括：接收来自安全设备的输入信号，所述输入信号包括用于校验所述输入信号是否正常的测试脉冲；判断输入信号的电平状态；当输入信号为低电平时，控制机器人执行安全动作；当输入信号为高电平时，判断输入信号的测试脉冲的周期和持续时间是否分别处于预设的第一参数区间和第二参 数区间，若所述周期和持续时间满足要求，控制机器人正常运行，若所述周期和持续时间至少其一不满足要求，控制机器人执行安全动作。
进一步的，所述方法包括：当接收到至少两个输入信号时，分别判断至少两个输入信号的电平状态，当存在低电平的输入信号时，控制机器人执行安全动作；当所述至少两个输入信号均为高电平时，分别判断其测试脉冲的周期和持续时间是否满足要求，且在至少两个输入信号的至少其一不满足要求时，控制机器人执行安全动作。
进一步的，所述第一参数区间为[10ms,1000ms],所述第二参数区间为[10us,1000us]。
进一步的，所述第一参数区间为[10ms,500ms],所述第二参数区间为[50us,500us]。
进一步的，所述输入信号来自安全光幕、安全激光扫描仪、安全门锁中至少其一。
进一步的，所述方法包括：当输入信号为高电平时，检测是否存在用户开启校验功能的设置信息，仅当存在所述设置信息时判断所述测试脉冲的周期和持续时间是否满足要求。
本发明还用于保护如下技术方案：一种安全控制装置，应用于工业机器人，所述安全控制装置用于在机器人存在安全风险时控制其执行安全动作，所述安全控制装置包括：输入模块，用于接收来自安全设备的输入信号，所述输入信号包括用于校验所述输入信号是否正常运行的测试脉冲；逻辑处理模块，用于处理所述输入信号并生成指示机器人安全风险的输出信号；输出模块，用于根据所述输出信号指示机器人存在安全风险时，控制机器人执行安全动作；
当所述输入信号为低电平时，所述输出模块控制机器人执行安全动作；当所述输入信号为高电平时，逻辑处理模块判断所述测试脉冲的周期是否处于预设的第一参数区间，以及判断所述测试脉冲的持续时间是否处于预设的第二参数区间，当所述周期和持续时间其中任一不满足要求时，输出模块控制所述机器人执行安全动作。
进一步的，所述安全控制装置包括第一控制模块和第二控制模块，所述第一控制模块和第二控制模块分别用于当机器人存在安全风险时控制其执行安全动作。
进一步的，当所述第一控制模块和第二控制模块其中任一检测到输入信号为低电平时，控制机器人执行安全动作；当所述第一控制模块和第二控制模块均检测到输入信号为高电平时，当所述第一控制模块和第二控制模块其中任一检测到测试脉冲的周期和持续时间不满足要求时，控制机器人执行安全动作。
进一步的，所述第一参数区间为[10ms,1000ms],所述第二参数区间为[10us,1000us]。
进一步的，所述第一参数区间为[10ms,500ms],所述第二参数区间为[50us,500us]。
进一步的，所述输入信号来自安全光幕、安全激光扫描仪、安全门锁中至少其一。
进一步的，所述逻辑处理模块被配置为检测是否存在用户开启校验功能的设置信息，仅当存在所述设置信息时判断所述测试脉冲的周期和持续时间是否满足要求。
本发明还用于保护如下技术方案：一种工业机器人，包括底座和机械臂，所述机械臂可用于连接工具以执行工作，所述工业机器人包括前文中任一项所述的安全控制装置。
本发明还用于保护如下技术方案：一种计算机存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现前文任一项所述的方法。
与现有技术相比，本发明具体实施方式的有益效果为：提供一种对安全设备输入信号的OSSD校验机制，即对来自安全设备的输入信号再次确认其可信度，在存在有效的测试脉冲时确认其可信度，低电平时以及不存在有效的测试脉冲时，控制机器人执行安全动作，从而提高工业机器人工作的安全性。
附图说明
以上所述的本发明的目的、技术方案以及有益效果可以通过下面附图实现：
图1是本发明的一个实施例的安全控制装置的示意图
图2是本发明的一个实施例的安全控制装置的模块示意图
图3是本发明的一个实施例的安全控制装置的工作示意图
图4是本发明又一实施例的安全控制装置的模块示意图
图5是图4所述的安全控制装置的工作流程图
图6是本发明的一个实施例的工业机器人的示意图
图7是本发明一个实施例的安全控制方法的示意图
具体实施方式
为使本发明的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的方案进行清楚、完整的描述，显然，所描述的实施例是本发明的一部分实施例而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明保护一种安全控制装置，应用于工业机器人，参图1，图1示出了本发明的一个实施例的安全控制装置100的示意图，本发明所提供的安全控制装置适用于确保工业机器人的安全运行，以及在工业机器人存在安全性风险时控制其执行安全动作，具体的，所述安全动作包括控制机器人报警、减速或停机等引起用户注意或减小机器人运行风险的方式。所述安全控制装置100能够接收来自安全设备200的输入信号，处理所述输入信号以生成输出信号，所述输出信号用于控制所述机器人执行安全动作。图3示出了本发明一个实施例的安全控制装置100的模块示意图，本发明所提供的安全控制装置100能够用于确保机器人的工作安全，即当安全控制装置100判断机器人满足安全条件时，控制机器人正常运行，当判断机器人不满足安全条件时，即机器人存在安全性风险时，控制机器人执行安全动作，以确保机器人的运行安全。参图2，图2是本发明一个实施例的安全控制装置的模块示意图，所述安全控制装置包括输入模块110，用于接收来自安全设备200的输入信号，所述输入信号包括用于校验所述输入信号是否正常运行的测试脉冲，即OSSD校验信号；逻辑处理模块111，用于处理所述输入信号以生成指示机器人安全风险的输出信号；输出模块120，所述输出模块120用于根据上述的输出信号指示机器人存在风险时控制机器人执行安全动作。其中，工业机器人在工作环境中能够接收外部的安全设备200的输入信号，并评估处理该输入信号以确定输出信号，其中，输入信号通常包括测试脉冲，所述测试脉冲用于校验所述输入信号是否正常运行，即包括OSSD(Output signal switch device)信号的校验，且在输入信号能够正常运行时，才有可能得到正确的输出信号。其中，所述安全控制装置100用于，当所述输入信号为低电平时，所述输出模块120控制机器人减损或停机；当所述输入信号为高电平时，逻 辑处理模块111判断所述输入信号的测试脉冲的周期是否处于预设的第一参数区间，以及判断所述测试脉冲的持续时间是否处于预设的第二参数区间，当所述周期和持续时间其中任一不满足要求时，输出模块控制所述机器人执行安全动作。
上述安全设备200通常为设置在工业机器人工作环境中的安全设备，所述安全设备能够在工作环境中存在不安全因素时通知工业机器人，所述工业机器人的安全控制装置100能够在接收到该表征不安全因素的通知时执行相应动作，例如执行安全动作，以确保机器人的运行安全。示例性的，所述安全控制装置100能够接收来自安全光幕、安全激光扫描仪、安全门锁、紧急停止开关中至少其一的输入信号，即所述安全设备200相应的为安全光幕、安全激光扫描仪、安全门锁、紧急开关，示例性的，经由该安全设备，可以在危险情况下关闭所述工业机器人。在本实施例中，以安全光幕为例展开说明。安全光幕即OSSD装置，其被设计成自动地生成指示光幕的每个状态的信号，如果光幕正常工作，用于确定安全状态相关的光线未被外来入侵物体中断，则安全光幕向安全控制装置100发送所述输入信号，所述安全光幕持续检测工作环境中是否存在入侵物体，例如，持续检测是否有人闯入，所述安全控制装置100能够接收所述安全光幕的检测信号，也即，所述安全控制装置100的输入模块110的输入信号为安全光幕的检测信号，参图3，图3是本发明的一个实施例的安全控制装置100的工作示意图，安全控制装置100能够接收来自安全设备200的输入信号10，此处，以安全设备200为安全光幕为例展开说明，所述安全光幕能够检测工作环境中外来物体的入侵情况，产生检测信号，所述安全控制装置100的输入模块110能够接收来自该安全光幕的输入信号10，逻辑处理模块111评估该输入信号10，或者，必要时，逻辑处理模块111评估该输入信号10及其测试脉冲12以产生输出信号，所述输入信号10包括所述测试脉冲12，所述测试脉冲12能够校验所述输入信号10是否正常，基于正常的输入信号10辅助安全控制装置100对工作环境的准确判断。当安全光幕检测到工作环境中出现入侵物体时，检测信号为低电平，即所述输入信号10为低电平，所述输出模块控制机器人执行安全动作；当所述输入信号10为高电平时，此时根据输入信号10的初步判断是安全光幕未检测到入侵物体，在这种情况下，并不简单的判断为工作环境中不存在入侵物体，而是进一步判断该高电平的信号是否准确。如上所述，输入信号 10包括测试脉冲12，即包括OSSD功能，即output signal switch device,OSSD作为输入信号的特性能够判断输入信号是否正常，即在存在有效的OSSD校验的前提下，安全光幕的检测信号能够被准确的反映。本发明所提供的安全控制装置100，能够检测所述测试脉冲12是否正常运行，即当存在正常运行的测试脉冲时，能够认为当前的输入信号10是正确的，而如果不能检测到正常运行的测试脉冲12，即对输入信号10的校验存在问题，输入信号10本身的可信度低，为了避免工业机器人的安全性风险，输出模块120控制机器人执行安全动作。具体的，当输入信号10为高电平时逻辑处理模块111判断所述输入信号10的测试脉冲12的周期T是否处于预设的第一参数区间，以及判断所述测试脉冲12的持续时间d是否处于预设的第二参数区间，当所述周期T和持续时间d其中任一不满足要求时，输出模块控制所述机器人执行安全动作。
判断所述输入信号10是否已经经过有效的测试脉冲的校验，需要确定是否存在有效的测试脉冲，在本发明中，通过确定测试脉冲12的持续时间d和周期T以确定是否存在有效的测试脉冲。即当测试脉冲12的持续时间d和周期T均满足要求时，判断为存在有效的测试脉冲，而当测试脉冲12的持续时间d和周期T其中任一不满足要求时，判断为不存在有效的测试脉冲。所述测试脉冲12包括预设的第一参数区间和第二参数区间，当测试脉冲12的周期T处于预设的第一参数区间，且所述测试脉冲12的持续时间d处于预设的第二参数区间时，所述测试脉冲12为有效的测试脉冲。在本实施例中，所述第一参数区间为[10ms,1000ms],所述第二参数区间为[10us,1000us]。选用该区间能够覆盖安全设备的几乎所有场景。进一步的，所述第一参数区间为[10ms,500ms],所述第二参数区间为[50us,500us]。所述第一参数区间为[10ms,500ms],所述第二参数区间为[50us,500us]，即所述测试脉冲12的周期T需要大于或等于10ms且小于或等于500ms,所述测试脉冲12的持续时间d需要大于或等于50us且小于或等于500us,不同的安全设备其测试脉冲的周期和持续时间也不尽相同，使得本发明所选定的第一参数区间和第二参数区间能够覆盖市面上较多的产品，同时不至因为参数区间选择太大而引入太多干扰造成误判，或者由于参数区间选择太小而对安全设备的适配性较差。进一步的，所述逻辑处理模块被配置为仅在接收到来自用户开启校验功能的设置信息时判断所述测试脉冲的周期和时间是否满足要求。即，所述逻辑处 理模块可以选择执行对测试脉冲的判断，以及不执行对测试脉冲的判断，是否执行对测试脉冲的判断基于是否接收到来自用户的设置信息。安全设备包括多种类型，一些安全设备的输入信号包括测试脉冲，但也有安全设备的输入信号不包括测试脉冲，当安全设备的输入信号不包括测试脉冲时，如果对测试脉冲进行检测，则会出现误判的结果。工业机器人通常包括机器人示教器，用户能够通过示教器设置是否启动判断测试脉冲的功能，当用户确定需要启动该功能时，设置为开启该功能，则工业机器人的逻辑处理模块在接收到来自用户的设置启动该测试脉冲判断的功能时，执行对测试脉冲的判断，以避免产生误判。
如上所述，安全控制装置100能够接收来自安全设备200的输入信号10，处理所述输入信号产生输出信号。具体的，参图4，图4示出了该实施例的安全控制装置100的模块示意图，在本发明的一个实施例中，所述安全控制装置100包括第一控制模块1和第二控制模块2，所述第一控制模块1和第二控制模块2分别用于当机器人存在安全性风险时控制其执行安全动作，具体的，所述第一控制模块1和第二控制模块2具有两套相同的构成组件，所述安全控制装置100执行工作时，所述第一控制模块1和第二控制模块2各自分别执行工作，所述第一控制模块1和第二控制模块2具有相同的构造，如前所述，所述安全控制装置100包括输入模块110、逻辑处理模块111、输出模块120，即所述第一控制模块1和第二控制模块2分别包括输入模块、逻辑处理模块以及输出模块，所述第一控制模块1和第二控制模块2能够分别用于执行安全性判断，即所述第一控制模块1和第二控制模块2能够分别执行如前所述的，输入模块接收来自安全设备200的输入信号，逻辑处理模块处理所述输入信号，当输入信号为低电平时，控制所述工业机器人执行安全动作；当输入信号为高电平时，判断所述输入信号的测试信号的周期和持续时间是否满足要求。参图5，图5为图4中所示的实施例的安全控制装置的工作流程图，也即为安全控制装置100包括第一控制模块1和第二控制模块2时的工作流程，所述第一控制模块1和第二控制模块2分别执行工作，所述第一控制模块1和第二控制模块2分别判断输入信号是否为低电平，若第一控制模块1和第二控制模块2其中任一判断输入信号为低电平，则控制所述机器人执行安全动作；若所述第一控制模块1和第二控制模块2均判断输入信号为高电平，则分别检测输入信号的测试脉冲的周期T和持续时间d 是否满足要求，若所述第一控制模块1判断测试脉冲的周期T处于第一参数区间，持续时间d处于第二参数区间，且所述第二控制模块2判断测试脉冲的周期T处于第一参数区间，持续时间d处于第二参数区间，则判断为第一控制模块1和第二控制模块2的测试脉冲均满足要求，则表示此时来自安全设备200的输入信号未表示环境中存在不安全因素，即控制所述工业机器人执行安全动作，反之，机器人正常运行。通过设置第一控制模块1和第二控制模块2分别检测所述测试脉冲是否符合要求，且在第一控制模块1和第二控制模块2均检测满足要求时，确认所述输入信号的可信度。周期通过对输入信号的OSSD校验进行判断，即判断测试脉冲12是否为有效脉冲，以避免由于测试脉冲12的错误导致安全设备200输出的电平信号实际可信度低，同时，采用双通道的安全控制装置100，即第一控制模块1和第二控制模块2分别执行判断和控制，进一步提升了安全控制装置的安全性能。
以上优选实施例的有益效果在于，提供一种安全设备OSSD信号的检测机制，进一步提升安全设备的检测信号的可信度，弱化误判的可能性，提升了安全控制装置的安全性，同时，采用双通道的安全控制装置，进一步提升了安全控制装置的可靠性。
本发明还用于提供一种工业机器人，参图6，所述工业机器人300包括前文所述的任一种安全控制装置，所述安全控制装置是工业机器人300的核心组成之一，对于工业机器人300，尤其是新型的协作机器人，安全控制装置的可靠性将极大的影响机器人的工作性能，本发明所提供的工业机器人300优选为协作机器人。工业机器人300通常包括底座310、机械臂320，所述机械臂可以连接工具330以执行工作任务，工业机器人300还包括必要的软件配置，示例性的，本实施例的工业机器人300包括前文所述的任一种安全控制装置，以确保工业机器人300的安全运行，以及在工业机器人300的运行环境存在不安全因素时，控制其执行安全动作。
本发明还适于提供安全控制方法，应用于工业机器人，参图7，所述安全控制方法用于在机器人存在安全性风险时控制其执行安全动作，所述方法包括：S1、接收来自安全设备的输入信号，所述输入信号包括用于校验所述输入信号是否正常的测试脉冲；S2、判断输入信号的电平状态；S3、当所述输入信号为低电平时，控制机器人执行安全动作；S4、当所述输入信号为高电平时，判断输入信号的测试脉冲的周期T和持续时间d是否分别处于预设 的第一参数区间和第二参数区间，若所述周期T和持续时间d满足要求，控制机器人正常运行，若所述周期T和持续时间d至少其一不满足要求，控制机器人执行安全动作。即当输入信号10为低电平时，表征安全设备200此时检测到了可能存在的安全性风险，例如外部物体入侵，或外部停止信号，因此需要控制机器人执行安全动作；当输入信号10为高电平时，表征当前安全设备200可能未检测到环境中存在不安全因素，此种情况下，需要再次确认该输入信号10的可靠性，以确定是否此时的高电平信号确实能够足够可信的表示工作环境不存在不安全因素，通过检测测试脉冲的周期T和持续时间d，可以确认是否存在有效的测试脉冲，有效的测试脉冲能够使得输入信号10的可信度高，因此判断存在有效的测试脉冲时，可以确认输入信号10为高电平时，输入信号值得信任。
其中，安全设备200能够产生至少两个输入信号10给安全设备200，参来自安全设备的输入信号有两个，对应的，包括两个测试信号，所述安全控制方法能够分别评估上述两个输入信号，以及在两个输入信号均为高电平时，分别校验其测试脉冲，其中任一测试脉冲不满足预设的第一参数区间和第二参数区间的要求时，控制机器人执行安全动作。即安全设备200能够基于上述至少两个输入信号分别执行安全控制方法，即分别接收所述至少两个输入信号，并分别评估所述两个输入信号，即所述安全控制方法包括接收安全设备200的至少两个输入信号，分别评估所述至少两个输入信号，所述至少两个输入信号中的每一个均具有OSSD安全校验功能，即所述安全控制方法用于分别对每个输入信号进行评估，评估输入信号为高电平时，对该输入信号的测试信号进行判断，确认是否控制机器人执行安全动作，当基于所述至少两个输入信号中任一判断为应当控制机器人执行安全动作时，则控制机器人执行安全动作；当基于所述至少两个输入信号的判断均不控制机器人执行安全动作，则机器人正常运行，此时认为工业机器人工作环境中不存在安全性风险。如上，当上述测试脉冲的周期处于第一参数区间，即[10ms,1000ms]时，且当测试脉冲的持续时间d处于第二参数区间，[50us,500us]时，控制机器人正常运行。当选择该区间时，能够覆盖较多的安全设备的种类。进一步的，当所述测试脉冲的周期处于第一参数区间，即[10ms,500ms]时，且当测试脉冲的持续时间d处于第二参数区间，即[50us,500us]时，控制机器人正常运行，来自安全设备的输入信号通常具有OSSD功能，也即需要通过限制第一参 数区间和第二参数区间来确认是否存在有效的测试脉冲，而不同的安全设备其测试脉冲的周期和持续时间也不尽相同，通过调研市面上的安全设备，选定该第一参数区间和第二参数区间，使得本发明所选定的第一参数区间和第二参数区间能够覆盖市面上较多的产品，同时不至因为参数区间选择太大而引入太多干扰造成误判，或者由于参数区间选择太小而对安全设备的适配性较差。安全控制方法各流程的实现，前文中所述的安全控制装置具有一致性，此处不再赘述。
需要说明的是，本发明中，检测所述测试脉冲的周期和持续时间是否满足条件以判断是否存在有效的测试脉冲，测试脉冲的周期可能是不规则的周期，通常的，脉冲的周期为脉冲的持续时间以及间隔，通过对测试脉冲的周期和持续时间判断来确认该测试脉冲的有效性，对于本领域其他技术人员来说，可以基于此做出了简单变形，例如检测测试脉冲的间隔和持续时间判断测试脉冲是否为有效的测试脉冲，这当然也属于本发明的保护范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (13)

  1. 一种安全控制方法，应用于工业机器人，所述安全控制方法用于检测机器人存在安全风险时控制其执行安全动作，其特征在于，所述方法包括：
    接收来自安全设备的输入信号，所述输入信号包括用于校验所述输入信号是否正常的测试脉冲；
    判断输入信号的电平状态；
    当输入信号为低电平时，控制机器人执行安全动作；
    当输入信号为高电平时，判断输入信号的测试脉冲的周期和持续时间是否分别处于预设的第一参数区间和第二参数区间，若所述周期和持续时间满足要求，控制机器人正常运行，若所述周期和持续时间至少其一不满足要求，控制机器人执行安全动作。
  2. 根据权利要求1所述的安全控制方法，其特征在于，所述方法包括：当接收到至少两个输入信号时，分别判断至少两个输入信号的电平状态，当存在低电平的输入信号时，控制机器人执行安全动作；当所述至少两个输入信号均为高电平时，分别判断其测试脉冲的周期和持续时间是否满足要求，且在至少两个输入信号的至少其一不满足要求时，控制机器人执行安全动作。
  3. 根据权利要求1所述的安全控制方法，其特征在于，所述第一参数区间为[10ms,1000ms],所述第二参数区间为[10us,1000us]。
  4. 根据权利要求1所述的安全控制方法，其特征在于，所述输入信号来自安全光幕、安全激光扫描仪、安全门锁中至少其一。
  5. 根据权利要求1所述的安全控制方法，其特征在于，所述方法包括：当输入信号为高电平时，检测是否存在用户开启校验功能的设置信息，仅当存在所述设置信息时判断所述测试脉冲的周期和持续时间是否满足要求。
  6. 一种安全控制装置，应用于工业机器人，所述安全控制装置用于在机器人存在安全风险时控制其执行安全动作，其特征在于，所述安全控制装置包括：
    输入模块，用于接收来自安全设备的输入信号，所述输入信号包括用于校验所述输入信号是否正常运行的测试脉冲；
    逻辑处理模块，用于处理所述输入信号并生成指示机器人安全风险的输出信号；
    输出模块，用于根据所述输出信号指示机器人存在安全风险时，控制机器人 执行安全动作；
    当所述输入信号为低电平时，所述输出模块控制机器人执行安全动作；
    当所述输入信号为高电平时，逻辑处理模块判断所述测试脉冲的周期是否处于预设的第一参数区间，以及判断所述测试脉冲的持续时间是否处于预设的第二参数区间，当所述周期和持续时间其中任一不满足要求时，输出模块控制所述机器人执行安全动作。
  7. 根据权利要求6所述的安全控制装置，其特征在于，所述安全控制装置包括第一控制模块和第二控制模块，所述第一控制模块和第二控制模块分别用于当机器人存在安全风险时控制其执行安全动作。
  8. 根据权利要求7所述的安全控制装置，其特征在于，当所述第一控制模块和第二控制模块其中任一检测到输入信号为低电平时，控制机器人执行安全动作；当所述第一控制模块和第二控制模块均检测到输入信号为高电平时，当所述第一控制模块和第二控制模块其中任一检测到测试脉冲的周期和持续时间不满足要求时，控制机器人执行安全动作。
  9. 根据权利要求6所述的安全控制装置，其特征在于，所述第一参数区间为[10ms,1000ms],所述第二参数区间为[10us,1000us]。
  10. 根据权利要求6所述的安全控制装置，其特征在于，所述输入信号来自安全光幕、安全激光扫描仪、安全门锁中至少其一。
  11. 根据权利要求6所述的安全控制装置，其特征在于，所述逻辑处理模块被配置为检测是否存在用户开启校验功能的设置信息，仅当存在所述设置信息时判断所述测试脉冲的周期和持续时间是否满足要求。
  12. 一种工业机器人，包括底座和机械臂，所述机械臂可用于连接工具以执行工作，其特征在于，所述工业机器人包括权利要求6-11中任一项所述的安全控制装置。
  13. 一种计算机存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求1-5中任一项所述的方法。
PCT/CN2021/110732 2020-08-21 2021-08-05 安全控制方法、装置、工业机器人及计算机存储介质 WO2022037414A1 (zh)

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