CN102099614A - System for safety protection of human beings against hazardous incidents with robots - Google Patents
System for safety protection of human beings against hazardous incidents with robots Download PDFInfo
- Publication number
- CN102099614A CN102099614A CN2008801301189A CN200880130118A CN102099614A CN 102099614 A CN102099614 A CN 102099614A CN 2008801301189 A CN2008801301189 A CN 2008801301189A CN 200880130118 A CN200880130118 A CN 200880130118A CN 102099614 A CN102099614 A CN 102099614A
- Authority
- CN
- China
- Prior art keywords
- robot
- sensor
- signal
- people
- processing unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 241000282414 Homo sapiens Species 0.000 title claims abstract description 11
- 231100001261 hazardous Toxicity 0.000 title abstract description 3
- 238000012545 processing Methods 0.000 claims abstract description 35
- 238000000034 method Methods 0.000 claims abstract description 30
- 238000012544 monitoring process Methods 0.000 claims abstract description 28
- 230000003287 optical effect Effects 0.000 claims abstract description 23
- 230000009471 action Effects 0.000 claims abstract description 15
- 238000004458 analytical method Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 12
- 238000005259 measurement Methods 0.000 claims description 8
- 230000011664 signaling Effects 0.000 claims description 7
- 230000035945 sensitivity Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 2
- 230000006399 behavior Effects 0.000 description 22
- 230000036651 mood Effects 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000036544 posture Effects 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 4
- 230000006378 damage Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000002349 favourable effect Effects 0.000 description 4
- 238000001914 filtration Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000003993 interaction Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000002269 spontaneous effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 206010000117 Abnormal behaviour Diseases 0.000 description 1
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000008451 emotion Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002572 peristaltic effect Effects 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000003449 preventive effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 230000001755 vocal effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
- F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
- F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
- F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
- F16P3/147—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using electro-magnetic technology, e.g. tags or radar
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
- F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
- F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
- F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
- F16P3/141—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using sound propagation, e.g. sonar
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
- F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
- F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
- F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
- F16P3/142—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using image capturing devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
- F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
- F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
- F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
- F16P3/144—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using light grids
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/26—Speech to text systems
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L25/00—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00
- G10L25/78—Detection of presence or absence of voice signals
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Psychiatry (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Social Psychology (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Manipulator (AREA)
Abstract
The invention refers to a system and a method for safety protection of human beings against hazardous incidents with robots in operation by means of a monitoring means comprising sensor means which are able to receive and measure signals caused by the respective human being who might be in a dangerous situation within or near the working range of the robot, where the acoustical and/or optical sensors are located close around the robot within or near its working range, where said monitoring means comprises a processing means being linked to the acoustical and/or optical sensors, and where said processing means evaluates the received signals as for the source in order to trigger the robot controller to execute a control action leading to a safe situation.
Description
Technical field
The present invention relates to the people's safety system by the robot hazard event in the monitoring component defence operation, this monitoring component comprises that at least one can receive and/or discern by being in the robot operating range or the sensor of the signal that near the corresponding human of dangerous situation causes.
Background technique
Robot is well-known from for example industrial production.Typical robot has for example 6 one-movement-freedom-degrees.It typically is made of robot base (its can around first axle rotate) and the arm that is installed in pivotal rotating on this robot base.Arm can be made of each 2 joint with an one-movement-freedom-degree.At the end of arm, the robot that typically has 2 or 3 degrees of freedom is installed.Robot can have around the operating range of the 1m to 4m of robot base, but 10m or higher radius also can be expected.Have more or less degrees of freedom equally or do not have the other machines of robot base to be regarded as robot certainly.
Safety system makes people can adopt the mode that prevents nocuity danger to operate the machine of potential risk.Allow the machine operation (typically mechanical motion) of certain degree in the system of the forefront of development when existing the people, thereby utilize mutual possibility favourable between people and the machine, simultaneously still by using more senior security control technology and method to avoid dangerous situation.
Can cause the mechanical failure of dangerous situation to remain possible (even very unlikely).If the people finds to lay oneself open to potential dangerous situation, avoiding dangerous common mode is to press promptly to stop (E-stop) button, and this button is necessary/and the operational site that is installed in him usually is in one's power in the scope.Yet if owing to some reasons, the people can not get at the E-stop button, and the miscellaneous part that stops machine will improving the level of security of operational site.
US7308112B2 describe the Computer Vision Recognition (wherein receiving and analysing digital image) based on people's gesture and attitude man-machine interaction and system, method, equipment and the computer-readable medium of mutual (" HCI ") of people and computer more specifically.
Gesture can be used for by user instruction or order are provided mutual with machine.Embodiments of the invention comprise that people detection, human body detection, hand conformal analysis, trajectory analysis, orientation are determined, attitude matching etc.
The shape of many types and attitude adopt and discern based on the non-intruding mode of computer vision.Many application become feasible by this gesture understanding technology, and among other things, it also comprises the telecontrol of home devices, and the no mouse that computer console, recreation and man-robot are communicated by letter (with contactless) is operated to instruct.Initiatively sensing hardware is used for catching depth image stream with video rate (video rate), and it is therefore analyzed to be used for information extraction.
Similar technology knows that from EP0849697B1 it relates to the gesture identification system and method, wherein receives in real time and handles image streams will being expressed as vector in the hand district in each image, and handle this vector with the identification gesture.
Robot device, its state conversion model construction method and behavior controlling method are known from JP2005238422 A, it is based on user speech identifying part and user's imaging identifying part, and it detects the mood of relative users according to user's voice signal and picture signal.
The mood that the mood estimating part user occurs according to these testing results is categorized into any mood in the multiple mood that is dispersed in advance in the predetermined number.Longer-term storage is partly stored by based on the constructed user emotion transformation model of the intensified learning of mood (user appear certain behavior in certain mood and by its conversion after the user gives remuneration), behavior selection portion component selections in response to the behavior of the announcement of user's present mood in response in the possibility of measuring [pi].The behavior output discloses the behavior of selecting.
Although state-of-the art relates in one aspect to the combination of acoustics and/or optical sensor, relate to robot on the other hand, it only relates to wherein the robot itself that these features except that any security purpose of the operator of robot have been implemented.
Summary of the invention
Based on above-mentioned state-of-the art, main purpose of the present invention is to be developed as safety system and the method that robot provides, and its operator for robot provide the Security of high power, and it will be implemented as has good efficiencies and reasonable effect.
The reason that can not get at emergency stop push button may be that the people does not stand in assignment position (thereby not making emergency stop push button directly in one's power in the scope) or people exactly and has been poured on reason on the floor and between these.Therefore all these aspects should be contained by the present invention.
Therefore, the present invention is directed to system and method, the people can make hazardous condition signalization and incident such as for example promptly stops and for example need not to use conventional input device such as button so that machine controller caused thus.
This involves the people and makes up by visible sensation method (attitude, human posture) or sense of hearing method (cry, voice) or the two and express order.Such order can and can cause the execution of machine order by the sensor that is connected to machine controller.Relevant machine order can be promptly to stop, operate suddenly stopping, operation suspension, operation recovery/restart, specificly retreating or make sequence playback or other orders or state change.
The present invention is characterised in that described monitoring component is positioned on robot or its and to be positioned at robot all right at a distance, simultaneously at least one sensor be positioned at around the robot it operating range or near Anywhere, wherein said monitoring component comprises at least one processing unit that just is linked to sensor, and wherein said processing unit is assessed received signal to trigger robot control system execution control action to increase level of security about the source.Control action can be that speed reduces, mobile route change, reversing motion or promptly stop.Processing unit can for example be a processing unit such as computer for example.
Preferably, the sensor that is used for this purpose is based on acoustics and/or optical effect, but similarly it provides to use even more with different natural physical propertys, for example identification of infrared detection and/or ultrasound detection and detections of radar or gesture and attitude according to embodiment.
According to preferred embodiment, at least one sensor is arranged on the ground level, and alternatively they are arranged on the medium level or on the ground level and all right on medium level.Ground level is characterised in that it is to bear 1 to 1 meter height from ground.Medium level be characterised in that typically Vertical direction from ground 1 meter to being higher than the highest a little 3 meters the height that touches of robot (it comprises the arm end equipment).
Advantageously, system features according to the present invention is that optical sensor is for accepting to have the visible light signal sensitivity of the wavelength in about 380 to 780nm scopes when using at least one optical sensor.But equally only the identification of IR light is useful, because disturb and can eliminate by only using IR light from the visible light of the light source that changes.
Alternatively utilize according to system of the present invention, acoustic sensor is provided for and receives the frequency in 150Hz to the 5000Hz scope and have the acoustic signal of 40dB sound intensity level at least simultaneously, or described sensor is provided for and receives the acoustics that limits as the feature by the front and the combination of optical signalling.But equally for example the use of 50Hz and low-down frequency such as lower is useful, because for example falling of people can cause noise in this frequency range.
In addition, the method for the hazard event of the robot in the present invention relates to avoid operating by any sensor protection people, this sensor can receive and discern by the signal that may be in the robot operating range or near the corresponding human of dangerous situation causes.
This method is characterised in that the following step:
The signal that same reception of-described sensor and measurement are provided by corresponding human;
The signal of-measurement offers at least one processing unit;
-based on those signals, by the your any action in the operating range of at least one processing unit analysis robot and mobile;
Any detection thereon of-irregularities or state or dangerous situation causes protectiveness robot control action and/or moves.
Increase and therefore initiate action immediately stopping robot and to prevent injury and damage thereby all features of the present invention are intended to obtain in robot and people are directly mutual safety to the people, this is clearly from the present invention.
Although the present invention utilizes known technology to be used for the people's that detects in machine environment state, the present invention utilizes the combination of the information that adopts new mode to monitor and assess detection to provide security functions new, that increase with the operation to machine.
The favourable improvement of the method for claim is characterised in that the detection that activates any alarm during robot manipulation's All Time.
In another embodiment of the present invention, the data of robot location's virtual condition (its by subsidiary machinery people controller, correspondingly the robot controlling component provides) are used by at least one processing unit that is used to detect.
Have details, near the easier detection of the dangerous situation for the people of the part of robot or robot from the physical location of robot in its track of robot controller.The measurement fault of associated machine people's position forecloses.
In another embodiment of the present invention, robot location's virtual condition is measured by at least one sensor element and is used by at least one processing unit that is used to detect.
In additional embodiments of the present invention, analyze by at least one processing unit based on the signal of at least two sensors of different principle of measurement.
This diversity makes it possible to the more wide basis of analyst's signal (for example, acoustics and optical signalling).According to present case, optics or acoustic signal can be more suitable in test example such as dangerous situation.
In very favorable embodiment, the time coincidence of irregularities and/or state and/or dangerous situation (it detects based on each the analytic signal at least two sensors) has been considered and has been used in this analysis.This describes in Fig. 4 in more detail.The maximum time difference between the signal of two appearance is simultaneously depended on signal kinds and can for example change to 200ms from 1ms.
Embodiments of the invention comprise monitoring component.This monitoring part can comprise the sensing part of acoustic monitoring parts and/or optical monitoring part and/or radar wave and/or power and/or infrared waves.
In a preferred embodiment, optical monitoring partly comprises sensor interface, image acquisition component, image processing section, gesture recognition part and reasoning part.This sensor interface receives from the data of optical sensor and makes it for image acquisition component, correspondingly image acquisition units can be used.The data creation image of image acquisition component from receiving.
Image processing section is used various filtering techniques with raising Image quality, and distinguishes the different objects in the working cell of robot, for example people, robot, target utensil etc.Gesture recognition is partly discerned detected people's different attitudes or irregularities and is transferred it to the reasoning part.Reasoning and decision making algorithm are partly carried out in reasoning, and it judges whether the safety critical situation detects, and produces at least one signal based on analysis result.
Monitoring component can comprise processing unit separately, or is at least partially integrated and enters in the robot control system, or the software program that moves on one or more processors of robot control system.
In a preferred embodiment, robot control system comprises at least one polycaryon processor, and monitoring component moves on a nuclear therein as an example.
According to other improvement, acoustic sensor is provided for the frequency that is received in 150Hz to the 5000Hz scope and has the acoustic signal of the sound intensity level of 40dB at least simultaneously.
In another embodiment, the acoustics of monitoring component partly comprises signal processing, its to acoustic signal filtering in typical 300-3000Hz frequency band, to strengthen the sensitivity of monitoring system to voice.
According to preferred embodiment, acoustics partly comprises the threshold function table of sound level, and it distinguishes the normal running noise of other equipment in robot and the unit.
In another embodiment, acoustics partly comprises the notch filter of at least one coupling, and it eliminates the eigen frequency in production unit, for example frequency that is caused by fan, pump and other machines (it moves with constant speed).
In another embodiment again, acoustics partly comprises learning functionality, and it can be at the filter frequencies of training automatic adjustment threshold level in service, coupling and other filter parameters to reach the suitable environment noise suppression.
In a further embodiment, acoustics partly has the voice recognition parts, it can discern and suppress typical aperiodic of sound and non-constant sound, as the sound that is sent by pneumatic valve, welding process, rolling shutter door opening and closing etc., makes that only uncommon acoustic signal is identified.
In another embodiment, the acoustics of monitoring component partly comprises the speech recognition part, it can discern that picture " stops ", the basic verbal order of " suddenly stop ", " slowly ", " no ", " help ", and can work as and form at least one signal when detecting such order.
In a preferred embodiment, the unlike signal that is formed by the monitoring part is mapped to the different control action in the robot.For example, " stop " order and can form the signal that generation promptly stops; " slowly " order can triggering speed be reduced to safety speed, typically at the 250mm/s that is lower than of the tool ends end of robot.
Advantageously, the present invention is characterised in that acoustics and/or the optics alarm that described monitoring component preparation receives by On Screen Display when robot just is stopped, and send the higher level control system of alarm, make these control system can take suitable action or notice to picture unit or line traffic control.These alarms can send by digital output, Field bus, network, wireless transmission, optics or waveguide signal.
The advantageous embodiment of monitoring component also comprises electronic clock, calendar function and storage area, and can store the alarm with time and/or date in storage area and be used for post analysis.
According to preferred embodiment, the present invention includes monitoring component, it passes through steam whistle or buzzer and optical signal and prepares acoustics and/or the optics alarm that conversion receives when robot just is stopped.
Generally, sensing part and aforesaid device can be positioned at the fixed position or they are movably, that is, they can be by conventional or by accident in robot manipulation's scope, correspondingly the people in its operating range carries.
In addition, monitoring component and/or sensing part can or partly or entirely be integrated in the controller part or they separate.
Importance of the present invention relates to this fact, be signalisation and the identification that system and a method according to the invention is not intended to the such your existence of finger in the operating range of robot, but only when the abnormal behaviour that is existed by the reflection dangerous situation causes this signalisation and identification.
In addition, should understand, identification and/or signalisation device are not limited to the sensor of any kind, but similarly provide it to the present invention having system, the method and apparatus based on image and video identification, its identification is about being in the robot people in the scope and robot self, any dangerous situation of other machines people and/or machine and/or workpiece correspondingly in one's power.In such a case in any case, the such effort and the spending of equipment are rational with being compared by the damage that any fault causes.
Generally, as the formation that is provided as the security situation of main purpose of the present invention do not mean that from unsafe conditions fully and moves on to security situation, but remains in the security situation yet.Only this means that the reaction to danger situation is not enough, and preventive action can help to avoid dangerous situation on the horizon.
According to other aspect of the present invention, robot or machine can be ready to confirm the receiving of vision and/or audible signal, correct explanation and execution.Such affirmation also can be adopted the form of vision and/or audible signal, and this vision and/or audible signal should be unique in machine environment and be clearly on implication to Machine Operator and other staff.
According to the present invention, there is the principle that will follow in addition, it will illustrate below.About this point, the behavior of corresponding human effectively, correspondingly suitable understanding will be supported by ACTIVE CONTROL (for example when using the relevant orders of some safety).Provide some examples of the relevant order that must carry out of possible like this safety below:
-send promptly and stop
-begin to carry out particular error processor (handler) to keep safety
-for example retreat, inverted running program, mobile route oppositely, mobile route changes, other machines people order
-operation stops with maintenance safe
-speed is reduced to zero and do not kill engine (" safety is paused ")
-slow down with maintenance safe
-to " peristaltic velocity ", for example 30mm/s or similar
-to " speed that safety reduces ", for example 250mm/s
-to other pre-configured velocity amplitudes
-to the value of being calculated from the characteristic (for example, volume, the attitude amplitude of acoustics prompting) of sensing data
-employing increment (use follow-up prompts)
-move to special position safely
-calculate from pointing out
-limit in advance
-relevant prompting of using is for example closed laser similarly to increase Security, exists some the possible orders that will carry out to resume work being used to:
-recover to move
-gather way
-to the value that limits in advance
-arrive from the value of the property calculation of sensing data
-employing increment (use follow-up prompts)
-other relevant promptings of using
These features and additional embodiments of the present invention are the purports of claim.
Description of drawings
By representing figure more of the present invention, with illustration the preferred embodiments of the present invention and the peculiar advantage when use is of the present invention.
Therefore the present invention will be from more being expressly understood by its some embodiments' the following explanation that only provides with reference to the example of accompanying drawing, wherein:
Fig. 1 provides the ground view of working zone of the robot of with good grounds safety system of the present invention;
Fig. 2 is the side view according to the described working zone of Fig. 1
Fig. 3 is the birds-eye view according to the described working zone of Fig. 1
Fig. 4 is a kind of flow chart of two disparate modules, and
Fig. 5 is the architectural schemes of system.
Embodiment
In Fig. 1, the signal ground view of the working zone 10 of the robot 12 with robot arm 14 is shown, many sensors 16,18 are set in this working zone 10.
Robot is shown the schematic representation that comprises the support 12 that supports robot arm 14.It is controlled by controller (not shown in this view).
In order to improve the detection of these signals, sensor 16,18 is arranged in the 12 rational distances with robot.Preferably, sensor 16,18 places ground level and places higher level all right, and for example at the height of 1-1.8m that is above the ground level, so sensor is integrated in the bar of robot.Each bar can provide at ground level with at all right sensor 16,18 of higher level.
Fig. 2 represents the side view that is set to of Fig. 1, and has the working zone 10 of robot 12 of its robot arm 14 shown in it.
In addition, have the bar that provides acoustic sensor 16 and/or optical sensor 18, these sensors can receive and discern by anyone signal that causes that may be in dangerous situation.
Fig. 3 represents the birds-eye view on the working zone 10 with robot 12 and people 20 that has schematically illustrated in Fig. 1.
Working zone 10 is by stably monitoring as the MIC microphone 16 of acoustic sensor with as the video capture device 22 of optical monitoring parts.
If there are a plurality of such machines that may cause any dangerous situation to staff, installation or associated workpiece, their machine controller 26 must be linked at together and promptly stop with initiation immediately.
Wherein can distinguish three objects: whole system, data processing and behavior prompting.
Whole system refers to be used for the safety system of man-machine interaction and comprises following feature:
-having a working zone 10 for the machine 12 of carrying out daily production task, this production task involves mutual between machine 12 and near the one or more people 20 it;
-it is equipped with one or more sensors 16,18,22 that can detect the data related with the people 20 in 10 environment of working zone;
-it is equipped with the data that are used for analyzing about the detection of 10 the people 20 in the working zone to determine to describe the information processing parts 24 of people's 20 behaviors;
-it is equipped with the information that is used to explain about people's 20 behaviors (10) of detecting as signal or process of commands parts 24 to machine controller 26;
-it is equipped with and makes 12 pairs of controlling componenies 26 of reacting from people 20 signal of therefore determining or order of machine;
-its vision and/or sense of hearing parts 16,18 of being used for machine control that are equipped with the reception that is used to refer to action request alternatively and/or finish, this action request transmits by people's 20 behaviors.
About being used for the safety system of man-machine interaction, the data processing of the data of reception, correspondingly their assessment is indispensable.
The parts of-people 20 behaviors relevant with sensor can have vision component and/or sense of hearing parts;
The parts of-people 20 behaviors relevant with sensor can be to have a mind to or unintentionally;
-comprise people 20 positions, speed, posture, visual cue and attitude, speech, sound, other auditory cueses etc. about people 20 sensing data;
-processing unit 24 execution algorithms are to extract the information about people 20 behavior from sensing data based on first principle analysis that does not require configuration;
-processing unit 24 execution algorithms are with based on the information of the configuration of being prepared of the feature of behavior pattern being extracted from sensing data about people 20 behavior;
-processing unit 24 is according to determining clear signal or the order that limits with the signal of behavior pattern or the configuration subordinate act data of being prepared of order association.
Finally, the safety system that is used for man-machine interaction depends on the behavior prompting:
-the body posture by the staff, the posture of staff's health or based on other promptings of people's 20 physique and/or motion, people 20 corelation behaviour can be for example visible;
-by sob, speech, the whistle of sending or other acoustic signals that caused by people 20, people 20 corelation behaviour can for example can be heard;
-people 20 corelation behaviour can be spontaneous, for example specific attitude or speech, or it is can right and wrong spontaneous, for example tripping operation or other be not intended to or accident after fall on the plate;
-from the definite order of people 20 behavior can be:
-relate to the unusual condition in the cooperation work unit;
-relate to the daily production task in the working cell;
-relate to other reasons or other requirements.
The associated exemplary of-order is:
-send promptly and stop;
-stop/recovering the robot motion;
-reduce/increase the robot speed;
-safety returns to original position;
-retrieve next part from conveying means or the similar task relevant with production.
Fig. 4 represents a kind of flow chart about two different modules 30,32 of the signal processing of two different sensors ( optical sensor 18,22 and acoustic sensor 16).First module 30 provides the exemplary process of the acoustic signal of measurement.
The signal that imports into is anticipated.To the data filtering of importing into, and any abnormal state of data (for example increase of noise level) is identified and is sent to time coincidence module 34.Carry out the further analysis of noise signal then, the identification of for example any speech of saying, this for example also uses some wave filter to reduce ambient noise level.
It is favourable that the voice signal of analyzing and explaining is formed the confidence factor level.If confidence factor is for example to be higher than 90% (0%=does not have confidence level, and 100%=is beyond all doubt, i.e. this explanation is correct) at all, this explanation causes the trigger command to robot immediately then, for example promptly stops.
Adopt similar mode, second module 32 is for example analyzed the optical signalling from the measurement of one or more shooting device.In the pretreatment of signal, the identification abnormal state, for example people's unusual rapid movement, and this information time that also is sent to overlaps module 34.Afterwards, carry out the further analysis of optical signalling, for example people's position is identified and discerns some postures or attitude based on it.
With the analysis classes of acoustic signal seemingly, analyze and the confidence factor of the optical signalling explained is useful.If confidence factor (for example the people is in the fear) is higher than 80%, provide the order that promptly stops.
If first module 30 and second module 32 do not have sufficiently high confidence factor directly to provide order to robot about the signal of explaining, comparison module 36 is the signal of being explained of the one 30 and second module 32 relatively.These modules can also overlap module 34 by the time and trigger, and the time of the acoustics that 34 analyses of time coincidence module are imported into and the abnormal state of light sensor data overlaps.
Therefore, if for example exist the time of the signal (they are assignor's dangerous situation all, and the signal of these two explanations for example all has only 50% confidence factor) of two explanations to overlap, comparison module 36 can provide order to robot.Equally, expert system is suitable for determining such decision.
Equally, be used to handle 3 of signal of measurement and more multimode use within the scope of the invention.
Finally, Fig. 5 represents an architectural schemes that has according to the system of acoustics of the present invention and optical sensor, promptly about the layout of these sensors of monitored machine and processing equipment.According to the present invention, following principle is correlated with.
-sensor be or acoustics or optics;
The filtering of other environment " noise " is eliminated in-application;
-process sensor data is to separate voice and/or people's image;
The data of-interpretation process are to find the prompting from the people;
Robotic command or function association that-prompting is relevant with particular safety;
-data processing can be the part of sensor;
-data interpretation can be the part of data processing;
-data interpretation can be the part of robot reasoning;
-reasoning can be the part of robot controller.
List of numerals
| 10 | The working |
12 | Machine, |
| 14 | |
16 | Acoustic sensor, microphone |
| 18 | |
20 | The |
| 22 | The |
24 | |
| 26 | |
30 | Module for the treatment of |
| 32 | Module for the treatment of |
34 | Time overlaps |
| 36 | Comparison module |
Claims (17)
1. people's safety system by the hazard event of the machine in the monitoring component defence operation, for example robot with moving member; described monitoring component comprises that at least one is used for receiving and/or discern by being in the described robot operating range or the sensor of the signal that near the corresponding human of the dangerous situation it provides; it is characterized in that
Described at least one sensor be positioned at around the described robot its operating range or near Anywhere, wherein said monitoring component comprises at least one processing unit that is linked to described at least one sensor, and wherein said at least one processing unit is assessed for the received signal of originating so that trigger described robot controller to initiate control action to create security situation.
2. the system as claimed in claim 1 is characterized in that, described control action be promptly stop, speed is reduced to level of security, speed be reduced to zero and do not kill engine, mobile route changes or oppositely move.
3. system as claimed in claim 1 or 2, it is characterized in that described at least one sensor that is used to receive and/or discern any signal that is caused by the people is provided for detecting sound wave and/or light wave and/or radar wave and/or power and/or infrared waves and/or ultrasonic parts.
4. as each described system in the claim 1 to 3, it is characterized in that at least one sensor is arranged on the ground level.
5. as each described system in the claim 1 to 4, it is characterized in that at least one sensor is arranged on the medium level.
6. as each described system in the claim 1 to 5, it is characterized in that at least one optical sensor is for accepting to have the visible light signal sensitivity of the wavelength in about 380 to 780nm scopes.
7. as each described system in the claim 1 to 6, it is characterized in that at least one acoustic sensor is for being received in the frequency in 150Hz to the 5000Hz scope and having the acoustic signal sensitivity of 40dB sound intensity level at least simultaneously.
8. as each described system in the claim 1 to 7, it is characterized in that described sensor is provided for the acoustics that receives as limit in each in aforementioned claim 6 and 7 and the combination of optical signalling.
9. method by the protection people of the hazard event of the machine at least one monitoring component defence operation, for example robot with moving member; described monitoring component comprises that at least one is used to receive and/or measure by being in the described robot operating range or the sensor of the signal that near the corresponding human of dangerous situation provides; it is characterized in that
Measured signal is provided at least one processing unit; in the operating range of described robot or near your any action and/or move and/or behavior is analyzed by described at least one processing unit, and any detection of irregularities or state or dangerous situation causes protectiveness robot control action and/or moves.
10. method as claimed in claim 9 is characterized in that, the data of the robot location's who is provided by subsidiary machinery people controller virtual condition are used being used for by described at least one processing unit and detected.
11., it is characterized in that the data of the robot location's who is measured by at least one sensor element virtual condition are used being used for by described at least one processing unit and detected as claim 9 or 10 described methods.
12. as claim 9 or 11 described methods, it is characterized in that, described robot control action be promptly stop, speed is reduced to level of security, speed be reduced to zero and do not kill engine, mobile route changes or oppositely move.
13., it is characterized in that described at least one sensor receives and/or measure sound wave, light wave, radar wave, infrared waves, power and/or ultrasonic as each described method in the claim 9 to 12.
14. as each described method in the claim 9 to 13, it is characterized in that, during described robot manipulation's All Time, the detected activity of irregularities or state or dangerous situation.
15. as each described method in the claim 9 to 14, it is characterized in that, analyze by described at least one processing unit based on the signal of at least two sensors of different principle of measurement.
16. method as claimed in claim 15 is characterized in that, described analysis consider and use based in described at least two sensors each the irregularities that signal detected of analysis and/or the time of state and/or dangerous situation overlap.
17. as claim 15 or 16 described methods, it is characterized in that, analyze the signal of at least one optics and an acoustic sensor.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/EP2008/005208 WO2009155948A1 (en) | 2008-06-26 | 2008-06-26 | System for safety protection of human beings against hazardous incidents with robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102099614A true CN102099614A (en) | 2011-06-15 |
Family
ID=40532547
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008801301189A Pending CN102099614A (en) | 2008-06-26 | 2008-06-26 | System for safety protection of human beings against hazardous incidents with robots |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP2288839A1 (en) |
| CN (1) | CN102099614A (en) |
| WO (1) | WO2009155948A1 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104007715A (en) * | 2013-02-27 | 2014-08-27 | 洛克威尔自动控制技术股份有限公司 | Recognition-based industrial automation control with position and derivative decision reference |
| CN106470797A (en) * | 2014-06-04 | 2017-03-01 | 霍尔兹玛面板分割科技有限公司 | Method for running plate processing unit (plant) and plate processing unit (plant) |
| CN107813308A (en) * | 2017-10-20 | 2018-03-20 | 高井云 | A kind of human computer cooperation system of robot |
| CN109032052A (en) * | 2018-06-26 | 2018-12-18 | 上海常仁信息科技有限公司 | Emergency intelligence control system based on robot identity card |
| CN109114411A (en) * | 2017-06-26 | 2019-01-01 | 太阳Hst株式会社 | For preventing the discrepancy sensing system of safety accident |
| WO2020108293A1 (en) * | 2018-11-29 | 2020-06-04 | 深圳前海达闼云端智能科技有限公司 | Control method, related apparatus, and storage medium |
| CN113096660A (en) * | 2021-04-28 | 2021-07-09 | 三一汽车制造有限公司 | Personnel safety protection method and device, electronic equipment and storage medium |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI409401B (en) * | 2011-05-30 | 2013-09-21 | Hon Hai Prec Ind Co Ltd | Accident avoiding system and method |
| US9798302B2 (en) * | 2013-02-27 | 2017-10-24 | Rockwell Automation Technologies, Inc. | Recognition-based industrial automation control with redundant system input support |
| US10065316B2 (en) | 2016-02-05 | 2018-09-04 | Rethink Robotics, Inc. | Systems and methods for safe robot operation |
| US9868214B2 (en) | 2016-06-20 | 2018-01-16 | X Development Llc | Localization of a mobile system |
| WO2019014940A1 (en) * | 2017-07-21 | 2019-01-24 | 深圳市萨斯智能科技有限公司 | Method of determining security level of robot and robot |
| US10800409B2 (en) | 2018-09-04 | 2020-10-13 | Caterpillar Paving Products Inc. | Systems and methods for operating a mobile machine using detected sounds |
| DE202018105474U1 (en) * | 2018-09-24 | 2020-01-03 | Leuze Electronic Gmbh + Co. Kg | Device for protecting a hazardous area of a plant |
| US11537119B2 (en) | 2019-04-11 | 2022-12-27 | Bastian Solutions, Llc | Voice controlled material handling mobile robotic system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0179252A2 (en) * | 1984-09-14 | 1986-04-30 | Siemens Aktiengesellschaft | Method and apparatus for protecting people in the operating range of a movable part of a traversing or swiveling machine, particularly of an industrial robot |
| DE19500323A1 (en) * | 1995-01-07 | 1996-07-11 | Edag Eng & Design Ag | Protective apparatus switching off equipment |
| DE19631579A1 (en) * | 1996-08-05 | 1998-02-12 | Vhf Computer Gmbh | Acoustic emergency shutdown apparatus for machines |
| WO2001033134A1 (en) * | 1999-11-02 | 2001-05-10 | Helmut Ehrlich | Method and device for detecting dangerous situations |
| CN101180494A (en) * | 2005-05-24 | 2008-05-14 | 本田技研工业株式会社 | Work station |
| CN101204811A (en) * | 2006-12-21 | 2008-06-25 | 发那科株式会社 | Robot system able to secure worker safety |
-
2008
- 2008-06-26 EP EP08773685A patent/EP2288839A1/en not_active Withdrawn
- 2008-06-26 CN CN2008801301189A patent/CN102099614A/en active Pending
- 2008-06-26 WO PCT/EP2008/005208 patent/WO2009155948A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0179252A2 (en) * | 1984-09-14 | 1986-04-30 | Siemens Aktiengesellschaft | Method and apparatus for protecting people in the operating range of a movable part of a traversing or swiveling machine, particularly of an industrial robot |
| DE19500323A1 (en) * | 1995-01-07 | 1996-07-11 | Edag Eng & Design Ag | Protective apparatus switching off equipment |
| DE19631579A1 (en) * | 1996-08-05 | 1998-02-12 | Vhf Computer Gmbh | Acoustic emergency shutdown apparatus for machines |
| WO2001033134A1 (en) * | 1999-11-02 | 2001-05-10 | Helmut Ehrlich | Method and device for detecting dangerous situations |
| CN101180494A (en) * | 2005-05-24 | 2008-05-14 | 本田技研工业株式会社 | Work station |
| CN101204811A (en) * | 2006-12-21 | 2008-06-25 | 发那科株式会社 | Robot system able to secure worker safety |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104007715A (en) * | 2013-02-27 | 2014-08-27 | 洛克威尔自动控制技术股份有限公司 | Recognition-based industrial automation control with position and derivative decision reference |
| US9804576B2 (en) | 2013-02-27 | 2017-10-31 | Rockwell Automation Technologies, Inc. | Recognition-based industrial automation control with position and derivative decision reference |
| CN106470797A (en) * | 2014-06-04 | 2017-03-01 | 霍尔兹玛面板分割科技有限公司 | Method for running plate processing unit (plant) and plate processing unit (plant) |
| CN106470797B (en) * | 2014-06-04 | 2020-10-13 | 豪迈面板分割科技有限公司 | Method for operating a plate processing device, and plate processing device |
| CN109114411A (en) * | 2017-06-26 | 2019-01-01 | 太阳Hst株式会社 | For preventing the discrepancy sensing system of safety accident |
| CN109114411B (en) * | 2017-06-26 | 2021-08-03 | 太阳Hst株式会社 | Access sensing system for security incidents |
| CN107813308A (en) * | 2017-10-20 | 2018-03-20 | 高井云 | A kind of human computer cooperation system of robot |
| CN109032052A (en) * | 2018-06-26 | 2018-12-18 | 上海常仁信息科技有限公司 | Emergency intelligence control system based on robot identity card |
| CN109032052B (en) * | 2018-06-26 | 2020-09-22 | 上海常仁信息科技有限公司 | Emergency intelligent control system based on robot identity card |
| WO2020108293A1 (en) * | 2018-11-29 | 2020-06-04 | 深圳前海达闼云端智能科技有限公司 | Control method, related apparatus, and storage medium |
| CN113096660A (en) * | 2021-04-28 | 2021-07-09 | 三一汽车制造有限公司 | Personnel safety protection method and device, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2009155948A1 (en) | 2009-12-30 |
| EP2288839A1 (en) | 2011-03-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102099614A (en) | System for safety protection of human beings against hazardous incidents with robots | |
| US20200086497A1 (en) | Stopping Robot Motion Based On Sound Cues | |
| CN102323822B (en) | Method for preventing industrial robot from colliding with worker | |
| EP3680206B1 (en) | System and method for detecting elevator maintenance behaviors in elevator hoistway | |
| CN104076761B (en) | The industrial automatic control based on identification supported with the decision based on confidence level | |
| KR101785998B1 (en) | Human access detecting system for preventing safety accident | |
| US9489730B2 (en) | Method and device for safeguarding a hazardous working area of an automated machine | |
| CN104007715B (en) | The industrial automatic control based on identification of reference is determined with position and derivative | |
| US9342970B2 (en) | Mobile entity tracking and analysis | |
| CN108363394A (en) | A kind of security robot intelligent inspection system and its method for inspecting | |
| JP6527187B2 (en) | Learning model construction device, anomaly detection device, anomaly detection system and server | |
| CN104102185A (en) | Recognition-based industrial automation control with person and object discrimination | |
| CN109704167A (en) | A kind of elevator car safety monitoring and evaluation device | |
| CN107664977A (en) | For operating the system and method for machine in the manufacturing environment including machine | |
| CN105354956B (en) | The cloud computing platform and method analyzed based on data mining and big data | |
| CN111226178A (en) | Monitoring device, industrial system, method for monitoring, and computer program | |
| KR20160081735A (en) | Worker Behavior Based Safety Management System and Method | |
| CN104102186B (en) | Recognition-based industrial automation control with redundant system input support | |
| KR20160116144A (en) | Industrial safety menagement system and mehtod for building the same | |
| CN109189056A (en) | A kind of IDC computer room O&M robot management system | |
| CN105003301B (en) | A kind of fully-mechanized mining working staff danger Attitute detecting device and detecting system | |
| CN108628209A (en) | A kind of architectural engineering detection safety device | |
| CN106327760B (en) | Limited space operation safety protection system | |
| CN106444753B (en) | Human body situation based on artificial neural network judges intelligent follower method | |
| KR20110138711A (en) | Security robot and method for controlling security robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20110615 |