CN108262745A - Robot security's monitoring method, apparatus and system - Google Patents
Robot security's monitoring method, apparatus and system Download PDFInfo
- Publication number
- CN108262745A CN108262745A CN201711375753.0A CN201711375753A CN108262745A CN 108262745 A CN108262745 A CN 108262745A CN 201711375753 A CN201711375753 A CN 201711375753A CN 108262745 A CN108262745 A CN 108262745A
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- China
- Prior art keywords
- monitoring
- robot
- robot arm
- arm
- security
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses robot security's monitoring method, apparatus and systems, by laser distance sensor monitoring robot mechanical arm whether close to high-voltage line, operating personnel or barrier, and it is monitored by light curtain and whether there is high-voltage line, operating personnel or barrier in fast operating region, if it is, slow down or stop by actuating mechanism controls robot arm；And Risk Monitoring is carried out to the movement of robot arm, the torque and speed of robot arm are adjusted by executing agency, can be realized：Regulated brake with certain safe class, manually control, speed and the monitoring and controlling of spacing monitoring and control, limitation power and power.Preferably, the Risk Monitoring can include collision monitoring；When it is to collide to collide monitoring result, robot arm is turned off by executing agency, this makes it possible to turn off mechanical arm in time when crashing, avoids causing further injuring.
Description
Technical field
The present invention relates to the technical field more particularly to robot security's monitoring method of hot line robot, device and
System.
Background technology
Due to be related to robot in itself, the security of the lives and property of operating personnel and manipulating object, the safety prison of robot
Survey is very important, and from the point of view of actual robot Integrated Solution, there are two types of the safety monitoring control programs of man-machine collaboration, a kind of
It is the external control program based on outside monitoring, it is a kind of, it is the internal control scheme designed based on robot body.
But the robot security of the prior art monitors system and can not carry out comprehensive security monitoring, monitoring effect to robot
It is not good enough, it can not fully ensure that robot security.
Invention content
For overcome the deficiencies in the prior art, the purpose of the present invention is to provide robot security's monitoring method, device and
System, it is intended to which robot security's monitoring mode for solving the prior art is not comprehensive enough, effect is not good enough, can not fully ensure that machine
The problem of people is safe.
The purpose of the present invention is realized using following technical scheme：
A kind of robot security's monitoring method, including：
Laser monitoring step：
By laser distance sensor monitoring robot mechanical arm whether close to high-voltage line, operating personnel or barrier；Such as
Fruit is then to slow down or stop by actuating mechanism controls robot arm；
Light curtain monitoring step：
It is monitored by light curtain and whether there is high-voltage line, operating personnel or barrier in fast operating region；It is if it is, logical
Actuating mechanism controls robot arm is crossed to slow down or stop；
Risk Monitoring step：
Risk Monitoring is carried out to the movement of robot arm；According to Risk Monitoring as a result, adjusting machine by executing agency
The torque and speed of device people's mechanical arm.
On the basis of above-described embodiment, it is preferred that the Risk Monitoring includes collision and monitors；When collision monitoring result is
When colliding, robot arm is turned off by executing agency.
On the basis of above-described embodiment, it is preferred that based on the mode learnt automatically to the movement of robot arm into
Row collision monitoring.
Or, it is preferred that the mode based on kinetic model control carries out collision monitoring to the movement of robot arm.
A kind of robot security's monitoring device, including：
Laser monitoring module, is used for：
By laser distance sensor monitoring robot mechanical arm whether close to high-voltage line, operating personnel or barrier；Such as
Fruit is then to slow down or stop by actuating mechanism controls robot arm；
Light curtain monitoring modular, is used for：
It is monitored by light curtain and whether there is high-voltage line, operating personnel or barrier in fast operating region；It is if it is, logical
Actuating mechanism controls robot arm is crossed to slow down or stop；
Risk Monitoring module, is used for：
Risk Monitoring is carried out to the movement of robot arm；According to Risk Monitoring as a result, adjusting machine by executing agency
The torque and speed of device people's mechanical arm.
A kind of robot security monitors system, including：
Robot security's monitoring device in any of the above-described embodiment；
Laser distance sensor, in robot, for monitoring robot mechanical arm whether close to high-voltage line, operation
Personnel or barrier；
Light curtain in robot, whether there is high-voltage line, operating personnel or barrier for monitoring in fast operating region
Hinder object；
Executing agency connect with described device, for controlling robot arm deceleration or stopping and adjustment machine
The torque and speed of people's mechanical arm；
Robot arm is connect with executing agency, for being moved under the control of executing agency, performs task.
On the basis of above-described embodiment, it is preferred that the executing agency includes the torque being connect with described device shutdown
Unit and parking unit.
On the basis of above-mentioned any embodiment, it is preferred that the robot arm uses light-weight design.
On the basis of above-mentioned any embodiment, it is preferred that the robot arm is carried out using flexible drive system
Driving.
On the basis of above-mentioned any embodiment, it is preferred that mould by radio communication between described device and executing agency
Block connects.
Compared with prior art, the beneficial effects of the present invention are：
The invention discloses robot security's monitoring method, apparatus and systems, and machine is monitored by laser distance sensor
Whether whether people's mechanical arm in light curtain monitoring fast operating region close to high-voltage line, operating personnel or barrier and by depositing
In high-voltage line, operating personnel or barrier, if it is, slowing down or stopping by actuating mechanism controls robot arm；
And Risk Monitoring is carried out to the movement of robot arm, the torque and speed of robot arm are adjusted by executing agency,
It can realize：Regulated brake with certain safe class, manually control, speed and spacing monitoring and control, limitation power and
The monitoring and controlling of power.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 shows a kind of flow diagram of robot security's monitoring method provided in an embodiment of the present invention；
Fig. 2 shows a kind of structure diagrams of robot security's monitoring device provided in an embodiment of the present invention；
Fig. 3 shows that a kind of robot security provided in an embodiment of the present invention monitors the structure diagram of system.
Specific embodiment
In the following, with reference to attached drawing and specific embodiment, the present invention is described further, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
Specific embodiment one
As shown in Figure 1, an embodiment of the present invention provides a kind of robot security's monitoring method, including：
Laser monitoring step S101：
By laser distance sensor monitoring robot mechanical arm whether close to high-voltage line, operating personnel or barrier；Such as
Fruit is then to slow down or stop by actuating mechanism controls robot arm；
Light curtain monitoring step S102：
It is monitored by light curtain and whether there is high-voltage line, operating personnel or barrier in fast operating region；It is if it is, logical
Actuating mechanism controls robot arm is crossed to slow down or stop；
Risk Monitoring step S103：
Risk Monitoring is carried out to the movement of robot arm；According to Risk Monitoring as a result, adjusting machine by executing agency
The torque and speed of device people's mechanical arm.
Preferably, the Risk Monitoring can include collision monitoring；When it is to collide to collide monitoring result, by holding
Row mechanism turns off robot arm.The advantage of doing so is that turning off mechanical arm in time when crashing, keep away
Exempt to cause further to injure.
Preferably, the embodiment of the present invention can collide the movement of robot arm based on the mode learnt automatically
Monitoring.
Preferably, the embodiment of the present invention can based on the mode that kinetic model controls to the movement of robot arm into
Row collision monitoring.
The embodiment of the present invention includes distance detection scheme and power limit scheme.
Distance detection scheme can be completed with reference to range sensor, safe light curtain.In the collaboration work of robot arm
Laser or other range sensors etc. generally can be all installed in the environment where robot or its in work, for monitoring machine
The working region of people.Increase a sector scanning or light curtain, can monitor whether there is operator in " fast operating region "
Member or other objects.Correspondingly, the regulated brake component with safe class may be used on functional safety apolegamy unit.Peace
Whether full laser distance sensor can be found that mechanical arm close to high-voltage line or other objects, and robot arm is controlled to slow down
Or stop to ensure safety.
Power limit scheme can be completed with reference to executing agency, and Risk Monitoring is carried out for the restricted cooperating robot of power
When, if robot debugging, to rational strength and speed, the severity of potential injury can reduce.Such as robot is known
Road need to make great power, and force sensor technologies achieve that the limitation to its power and power.When it is required during the work time
Torque or power are excessively high, such as when crashing, robot arm will safe shutdown, so as to will not damage
Accident.Robot arm can monitor whether collision at any movement moment, can realize：Based on automatic study work(
Can, on-line monitoring repeats whether track collides with diagnosis；It is controlled based on kinetic model, actively estimating non-duplicate track is
It is no to collide；It may be implemented in the torque and rate limitation under robot fault, impact events simultaneously, finally realize safe stopping
Machine.Correspondingly, the control system of robot arm, while also it is integrated with the security controls such as safe torque shutdown, secure parking
Function.
Whether the embodiment of the present invention is by laser distance sensor monitoring robot mechanical arm close to high-voltage line, operating personnel
Or barrier and monitored in fast operating region with the presence or absence of high-voltage line, operating personnel or barrier by light curtain, if
It is then to slow down or stop by actuating mechanism controls robot arm；And risk is carried out to the movement of robot arm
Monitoring is adjusted the torque and speed of robot arm by executing agency, can realized：With the controlled of certain safe class
Braking, manually control, speed and the monitoring and controlling of spacing monitoring and control, limitation power and power.
In above-mentioned specific embodiment one, robot security's monitoring method is provided, corresponding, the application is also
Robot security's monitoring device is provided.Since device embodiment is substantially similar to embodiment of the method, so describe fairly simple,
The relevent part can refer to the partial explaination of embodiments of method.Device embodiment described below is only schematical.
Specific embodiment two
As shown in Fig. 2, an embodiment of the present invention provides a kind of robot security's monitoring device, including：
Laser monitoring module 201, is used for：
By laser distance sensor monitoring robot mechanical arm whether close to high-voltage line, operating personnel or barrier；Such as
Fruit is then to slow down or stop by actuating mechanism controls robot arm；
Light curtain monitoring modular 202, is used for：
It is monitored by light curtain and whether there is high-voltage line, operating personnel or barrier in fast operating region；It is if it is, logical
Actuating mechanism controls robot arm is crossed to slow down or stop；
Risk Monitoring module 203, is used for：
Risk Monitoring is carried out to the movement of robot arm；According to Risk Monitoring as a result, adjusting machine by executing agency
The torque and speed of device people's mechanical arm.
Whether the embodiment of the present invention is by laser distance sensor monitoring robot mechanical arm close to high-voltage line, operating personnel
Or barrier and monitored in fast operating region with the presence or absence of high-voltage line, operating personnel or barrier by light curtain, if
It is then to slow down or stop by actuating mechanism controls robot arm；And risk is carried out to the movement of robot arm
Monitoring is adjusted the torque and speed of robot arm by executing agency, can realized：With the controlled of certain safe class
Braking, manually control, speed and the monitoring and controlling of spacing monitoring and control, limitation power and power.
Specific embodiment three
As shown in figure 3, an embodiment of the present invention provides a kind of robot securities to monitor system, including：
Robot security's monitoring device 301 in specific embodiment two；
Laser distance sensor 302 is connect with described device 301, and laser distance sensor 302 is mounted in robot,
For monitoring robot mechanical arm 305 whether close to high-voltage line, operating personnel or barrier；
Light curtain 303 is connect with described device 301, and light curtain 303 is mounted in robot, for monitoring fast operating region
It is interior to whether there is high-voltage line, operating personnel or barrier；
Executing agency 304 connect with described device 301, for robot arm 305 to be controlled to slow down or stop, with
And the torque and speed of adjustment robot arm 305；
Robot arm 305 is connect with executing agency 304, for being moved under the control of executing agency 304, is performed
Task.
Preferably, the executing agency 304 can include the torque being connect with described device 301 shutdown unit and parking ticket
Member.
Preferably, light-weight design may be used in the robot arm 305.
Preferably, the robot arm 305 may be used flexible drive system and be driven.
Preferably, it module can be connected by radio communication between described device 301 and executing agency 304, realization device
The wireless remote control of 301 pairs of robot arms 305.
The embodiment of the present invention can include lightweight scheme and elastification scheme.
Lightweight scheme is the ontology lightweight to robot arm 305.Light-type design is man-machine collaboration safety
One feasible program by mitigating the weight of robot arm 305, can effectively reduce its impact to personnel,
So that it is guaranteed that the safety of man-machine collaboration.If robot body is light enough, which can not be equipped with safe biography
Sensor can also work with Collaboration.Robot, which has, to cooperate and not to need to any safety measure, because the robot exists
Fuselage weight is substantially alleviated during research and development, belongs to lightweight robot, even working shoulder to shoulder with operating personnel, it is to personnel's
Impact that also can be very small is collided, personnel will not be caused with very big injury.
Elastification scheme refers to being driven robot arm 305 using flexible drive system, uses elasticity
The robot arm 305 of system can in a normal state safely with operating personnel's work compound.Compared to rigid drive
Dynamic, flexible drive is more in line with safety requirements, just as the difference hit by the neutralization of spring bullet by hard object, even if with operator
Member is collided, and personnel's stress also can be very light, will not be injured by what.
Whether the embodiment of the present invention is by 302 monitoring robot mechanical arm 305 of laser distance sensor close to high-voltage line, behaviour
Make personnel or barrier and monitored in fast operating region with the presence or absence of high-voltage line, operating personnel or obstacle by light curtain 303
Object, if it is, robot arm 305 is controlled to slow down or stop by executing agency 304；And to robot arm
305 movement carries out Risk Monitoring, and the torque and speed of robot arm 305, Neng Goushi are adjusted by executing agency 304
It is existing：Regulated brake with certain safe class, manually control, speed and the prison of spacing monitoring and control, limitation power and power
Observing and controlling system.
The present invention is from using in purpose, and in efficiency, the viewpoints such as progress and novelty are illustrated, the practicality progress having
Property, oneself meets the function that Patent Law emphasized and promotes and using important document, more than the present invention explanation and attached drawing, only of the invention
Preferred embodiment and oneself, the present invention is not limited to this, therefore, it is all constructed with the present invention, device such as waits to levy at approximations, the thunder
With, i.e., all equivalent replacements made according to present patent application range or modification etc., the patent application that should all belong to the present invention are protected
Within the scope of shield.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.Although present invention has been a degree of descriptions, it will be apparent that, in the item for not departing from the spirit and scope of the present invention
Under part, the appropriate variation of each condition can be carried out.It is appreciated that the present invention is not limited to the embodiment, and be attributed to right and want
The range asked includes the equivalent replacement of each factor.It will be apparent to those skilled in the art that can be as described above
Other various corresponding changes and deformation are made in technical solution and design, and all these change and deformation all should
This belongs within the protection domain of the claims in the present invention.
Claims (10)
1. a kind of robot security's monitoring method, which is characterized in that including：
Laser monitoring step：
By laser distance sensor monitoring robot mechanical arm whether close to high-voltage line, operating personnel or barrier；If so,
Then slow down or stop by actuating mechanism controls robot arm；
Light curtain monitoring step：
It is monitored by light curtain and whether there is high-voltage line, operating personnel or barrier in fast operating region；If it is, by holding
Row mechanism controls robot arm slows down or stops；
Risk Monitoring step：
Risk Monitoring is carried out to the movement of robot arm；According to Risk Monitoring as a result, adjusting robot by executing agency
The torque and speed of mechanical arm.
2. robot security's monitoring method according to claim 1, which is characterized in that the Risk Monitoring, which includes collision, supervises
It surveys；When it is to collide to collide monitoring result, robot arm is turned off by executing agency.
3. robot security's monitoring method according to claim 2, which is characterized in that based on the mode learnt automatically to machine
The movement of device people's mechanical arm carries out collision monitoring.
4. robot security's monitoring method according to claim 2, which is characterized in that the side based on kinetic model control
Formula carries out collision monitoring to the movement of robot arm.
5. a kind of robot security's monitoring device, which is characterized in that including：
Laser monitoring module, is used for：
By laser distance sensor monitoring robot mechanical arm whether close to high-voltage line, operating personnel or barrier；If so,
Then slow down or stop by actuating mechanism controls robot arm；
Light curtain monitoring modular, is used for：
It is monitored by light curtain and whether there is high-voltage line, operating personnel or barrier in fast operating region；If it is, by holding
Row mechanism controls robot arm slows down or stops；
Risk Monitoring module, is used for：
Risk Monitoring is carried out to the movement of robot arm；According to Risk Monitoring as a result, adjusting robot by executing agency
The torque and speed of mechanical arm.
6. a kind of robot security monitors system, which is characterized in that including：
Robot security's monitoring device described in claim 5；
Laser distance sensor, in robot, for monitoring robot mechanical arm whether close to high-voltage line, operating personnel
Or barrier；
Light curtain in robot, whether there is high-voltage line, operating personnel or obstacle for monitoring in fast operating region
Object；
Executing agency connect with described device, for controlling robot arm deceleration or stopping and adjustment machine man-machine
The torque and speed of tool arm；
Robot arm is connect with executing agency, for being moved under the control of executing agency, performs task.
7. robot security according to claim 6 monitors system, which is characterized in that the executing agency include with it is described
The torque shutdown unit of device connection and parking unit.
8. the robot security described according to claim 6 or 7 monitors system, which is characterized in that the robot arm is adopted
Use light-weight design.
9. the robot security described according to claim 6 or 7 monitors system, which is characterized in that the robot arm is adopted
It is driven with flexible drive system.
10. the robot security described according to claim 6 or 7 monitors system, which is characterized in that described device and executing agency
Between by radio communication module connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711375753.0A CN108262745A (en) | 2017-12-19 | 2017-12-19 | Robot security's monitoring method, apparatus and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711375753.0A CN108262745A (en) | 2017-12-19 | 2017-12-19 | Robot security's monitoring method, apparatus and system |
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| Publication Number | Publication Date |
|---|---|
| CN108262745A true CN108262745A (en) | 2018-07-10 |
Family
ID=62772249
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711375753.0A Pending CN108262745A (en) | 2017-12-19 | 2017-12-19 | Robot security's monitoring method, apparatus and system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111975773A (en) * | 2020-08-07 | 2020-11-24 | 北京如影智能科技有限公司 | Method and device for controlling mechanical arm |
| CN112698658A (en) * | 2020-12-28 | 2021-04-23 | 广东自来物智能科技有限公司 | Logistics shuttle robot running control method, equipment and system |
| CN112883792A (en) * | 2021-01-19 | 2021-06-01 | 武汉海默机器人有限公司 | Robot active safety protection method and system based on visual depth analysis |
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Application publication date: 20180710 |