EP4301558A1 - Procédé de détermination d'une zone de sécurité - Google Patents

Procédé de détermination d'une zone de sécurité

Info

Publication number
EP4301558A1
EP4301558A1 EP22712863.4A EP22712863A EP4301558A1 EP 4301558 A1 EP4301558 A1 EP 4301558A1 EP 22712863 A EP22712863 A EP 22712863A EP 4301558 A1 EP4301558 A1 EP 4301558A1
Authority
EP
European Patent Office
Prior art keywords
machine
area
safety
movement space
envelope
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
Application number
EP22712863.4A
Other languages
German (de)
English (en)
Inventor
Christian Norbert NEUFELD
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP4301558A1 publication Critical patent/EP4301558A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40478—Graphic display of work area of robot, forbidden, permitted zone

Definitions

  • the invention relates to a method for securing a safety area in the surrounding spatial area of a machine that works automatically with the help of a machine control and has machine parts that are moved over a large area during a work cycle, with all of the spatial positions occupied by the moving machine parts over a work cycle being determined as the movement space, and a surface of the The envelope surface for the movement space that approximates the movement space is determined in the form of data points, according to the preamble of claim 1, and a device for securing a safety area defined according to the invention in the surrounding spatial area of a machine that works automatically with the aid of a machine controller with machine parts that move extensively during a work cycle, according to the preamble of claim 6.
  • cameras are available that monitor a spatial area surrounding the machine by defining the simplest geometric spaces such as cuboids or spheres as safety areas and uploading them to a camera processor.
  • the camera sends a safety signal to the machine control and thus activates a safety function of the machine control for the machine, which puts the machine in a safe state, for example stops it.
  • This procedure thus uses virtual barriers and avoids some of the disadvantages associated with physical barriers.
  • it has proven difficult to establish a connection to the physical machine and, for example, to take subsequent changes in the production process or changes in the spatial arrangement of the machine into account.
  • the definition of the safety area using cuboids or spheres is therefore usually oversized in order not to take any risks with regard to safety and is therefore ultimately also subject to a certain arbitrariness.
  • the aim of the invention is therefore, on the one hand, to ensure the safety of the operation of automated machines and, on the other hand, to enable flexible protection of such machines in as space-saving a manner as possible and with little structural installation effort, which also easily takes into account subsequent conversions of the production process or changes in the spatial arrangement of the machine can.
  • Claim 1 relates to a method for securing a safety area in the surrounding spatial area of a machine that operates automatically with the aid of a machine control system and that is moved over a large area during a work cycle Machine parts, the entirety of the spatial positions occupied by the moving machine parts over a work cycle being determined as the movement space, and an envelope surface for the movement space approximating the surface of the movement space being determined in the form of data points.
  • an envelope space surrounding the movement space, which forms the safety area is calculated from the data points of the envelope surface, with the safety area having an inner surface formed by the envelope surface, as well as an outer surface, and a sensor unit for monitoring the safety area detects the intrusion of an object into the safety area and a safety control activates a safety function of the machine control for the machine upon detection of the intrusion of an object into the safety area.
  • the working cycle of the machine itself is used as a basis for defining the safety zone, namely the totality of the spatial positions occupied by the moving machine parts over a working cycle, which is subsequently referred to as the movement space. How such a range of movement can be determined will be described in more detail below.
  • an envelope surface for the movement space that approximates the surface of the movement space can be determined in the form of data points using known mathematical methods.
  • These data points can be present either as a "cloud of points", ie as a large number of data points which are comparatively close together in a spatial coordinate system and describe the enveloping surface, or as corner points of surface elements which approximate the surface of the movement space.
  • Approximation methods of this type are known and generally use surface elements in the form of triangles, quadrilaterals or hexagons, which reproduce the surface to be approximated without gaps.
  • the common corner points of these surface elements are also referred to as node points.
  • the data points of the enveloping surface determined in this way serve as a starting point for calculating an enveloping space that surrounds the movement space and forms the safety area.
  • the advantage of a safety area defined in this way is that it is obtained directly from the working process of the machine and can be easily adapted in the event of subsequent changes in the working cycle.
  • structural measures to set up physical barriers can be omitted and the extent of the safety area can be reduced to the extent that is immediately necessary, so that the method according to the invention can also be implemented in a very space-saving manner at the location of the machine.
  • the term "work cycle" is not only to be understood as a complete and repetitive work process, but also as a safety-relevant part of a work process.
  • the method according to the invention also provides a simple and robust method, which is also safer for these reasons, in that the initial definition of an envelope space based on a planned movement cycle of the machine and the definition of a safety area with an inner surface given by the envelope surface of the movement space, for example, also Malfunctions of the machine are detected immediately, as the machine itself crosses the envelope and enters the safety area. Even if the machine control is intentionally changed and the safety area is not adjusted, this error is detected immediately as soon as the machine violates the previously defined safety area due to the new movement cycle. Penetration of an object into the safety area is therefore understood to mean, in particular, the crossing of the enveloping surface and/or the displacement surface by the object.
  • One way of calculating an envelope is by shifting the data points representing the envelope into a space surrounding the movement space and towards the surface of the Movement space spaced displacement surface, wherein the displacement surface forms the outer surface of the safety area, and the envelope space is defined by the area between the envelope surface and the displacement surface.
  • a shift or translation is a geometric mapping that shifts each data point of the envelope surface in a spatial direction by a predetermined distance. It can be characterized by one or more vectors, the so-called displacement vectors. The extent of the shift, i.e. the length of the shift vectors, will be based on the requirements of the respective operating situation, but also on legal requirements.
  • the displacement surface then represents the outer surface of the safety area, and the envelope surface represents the inner surface of the safety area.
  • the movement space is determined as the totality of the spatial positions occupied by the moving machine parts over a work cycle from spatial position data of the machine control for the moving machine parts.
  • the movement space is thus constructed via a simulation of the work cycle by storing all the spatial positions occupied by the moving machine parts.
  • a further possibility for determining the movement space is that the movement space is determined as the totality of the spatial positions occupied by the moving machine parts over a work cycle using a camera capable of measuring depth information.
  • a camera capable of measuring depth information is also referred to as a 3D camera.
  • the machine is commissioned as part of the assembly process so that it runs through at least one work cycle. Meanwhile, the machine is filmed by the camera and the recordings are saved. In a subsequent image processing method the successive images can now be superimposed in such a way that an overall image of all spatial positions of the machine occupied over a work cycle is obtained. This overall picture represents the movement space and can be used for further digital processing to determine the enveloping surface.
  • the displacement of the data points representing the enveloping surface to calculate the displacement surface can also take place over different distances for different data points.
  • the displacement vector can be chosen to have different lengths for different areas of the envelope surface. This has the advantage that for areas of the enveloping surface in the vicinity of which the safety-relevant intrusion of objects is not to be expected during regular operation, for example in upper areas of the room or in areas of the machine facing the wall, the safety distance can also be selected to be smaller.
  • the safety function can consist of switching off the machine, for example.
  • a device for securing a safety area defined according to the invention in the surrounding spatial area of a machine that works automatically with the help of a machine control and has machine parts that move extensively during a work cycle, in which a sensor unit is provided that detects the intrusion of an object into the safety area, as well as a safety control , which activates a safety function of the machine control system for the machine when an object is detected entering the safety area, the safety area being formed by an envelope space surrounding the movement space of the moving machine parts and having an inner surface which is surrounded by an envelope surface approximating the surface of the movement space is formed for the movement space, and an outer surface.
  • the sensor unit is preferably designed as at least one camera capable of measuring depth information. If the range of motion as a whole over a work cycle spatial positions occupied by the moving machine parts is determined from spatial position data of the machine control for the moving machine parts, the sensor unit only serves to detect the intrusion of objects into the safety area. For this purpose, it is connected to a safety controller, which can also be part of the machine controller and which is designed to activate a safety function of the machine controller for the machine when an object intrudes into the safety area.
  • the sensor unit serves both to initially define the safety area and to protect the safety area during regular operation of the machine.
  • the machine is put into operation as part of the assembly process, so that it runs through at least one work cycle.
  • the machine is filmed by the at least one camera and the recordings are saved.
  • the successive images can now be superimposed in such a way that an overall image of all spatial positions of the machine occupied over a work cycle is obtained.
  • This overall picture represents the movement space and can be used for further digital processing to determine the enveloping surface and the enveloping space and thus to define the safety area.
  • the sensor unit is also used to detect the intrusion of objects into the safety area.
  • a safety controller which in this case will not usually be part of the machine controller, but is connected to the machine controller, and which is designed to perform a safety function of the machine controller for the machine when an object intrudes into the safety area to activate.
  • the penetration of an object into the safety area is understood to mean in particular the crossing of the inner and/or outer surface of the safety area, ie the crossing of the enveloping surface and/or the displacement surface by the object.
  • the sensor unit is thus designed to monitor both the inner and/or outer surface of the safety area, ie the envelope surface and/or the displacement area, and to detect an object crossing these surfaces of the safety area.
  • FIG. 1 shows a schematic representation of an arrangement of an automated machine with machine parts that move extensively during a work cycle, with a sensor unit and a safety control for safeguarding a safety area defined according to the invention
  • FIG. 2 shows a schematic representation of an arrangement of an automated machine with machine parts that are moved over a large area during a work cycle and have an enveloping surface and a displacement surface.
  • a sensor unit 4 is provided, which is designed to detect the intrusion of an object into the safety area S, and a safety controller 5, which is designed to activate a safety function of the machine controller 1 for the machine 2 to activate.
  • the sensor unit 4 is connected to the safety control 5 , which in turn is connected to the machine control 1 is.
  • the safety function consists of an immediate shutdown of the machine 2.
  • the sensor unit 4 is designed as at least one camera capable of measuring depth information.
  • Such cameras are also referred to as 3D cameras and can be embodied as ToF (“time-of-flight”) cameras.
  • ToF cameras are cameras that not only record a 2D image, but also measure depth information for each recording pixel.
  • Depth information is information about the distances between the individual objects in a scene and the ToF camera.
  • ToF cameras are also known as active cameras because they are equipped with their own light source, also known as a ToF light source. The light emitted by this light source is reflected by the objects in a scene to be recorded and thus reaches the detection area of the camera's image sensor as backscattered radiation.
  • the depth information is determined from the reflected light using transit time or phase difference measurements.
  • the movement space of the machine 2 is determined as the totality of the spatial positions occupied by the moving machine parts 3 over a work cycle using the sensor unit 4 designed as a 3D camera.
  • the sensor unit 4 is therefore used both for the initial definition of the safety area S and for safeguarding the safety area S during regular operation of the machine 2 .
  • the machine 2 is put into operation as part of the assembly process, so that it runs through at least one work cycle.
  • the machine 2 is filmed by the sensor unit 4 and the recordings are saved.
  • the successive images can now be superimposed in such a way that an overall image of all the spatial positions of the machine 2 and its moving machine parts 3 occupied over a working cycle results.
  • This overall picture represents the movement space and. can be used for further digital processing to determine the enveloping surface H and the enveloping space and thus to determine the Safety area S are used, as will be explained with reference to FIG.
  • the movement space is initially determined as the totality of the spatial positions occupied by the moving machine parts 3 over a work cycle with the aid of the sensor unit 4 .
  • data points Pi can be present, for example, as corner points of surface elements that approximate the surface of the movement space. Approximation methods of this type are known and generally use surface elements in the form of triangles, quadrilaterals or hexagons, which simulate the surface to be approximated without gaps.
  • FIG. 2 shows the approximation of the surface of the movement space using squares as surface elements, although in practice the surface of the movement space will have more complex profiles than in the example in FIG Displacement of the data points Pi representing the enveloping surface H and thus by constructing a displacement surface V surrounding the movement space and at a distance from the surface of the movement space.
  • Each data point Pi of the enveloping surface H is displaced in one spatial direction by a predetermined distance.
  • the displacement area V subsequently represents the outer surface of the safety area S.
  • the extent of the displacement ie the length of the displacement vectors, will be based on the requirements of the respective operating situation, but also on legal specifications.
  • the enveloping space according to the invention is defined by the area between the enveloping surface H and the displacement surface V and forms the safety area S.
  • the sensor unit 4 also serves to detect the intrusion of objects into the safety area S.
  • the safety controller 5 is connected to the machine controller 1 .
  • the safety controller 5 is designed to activate a safety function of the machine controller 1 for the machine, such as an immediate shutdown of the machine 2, upon detection of the intrusion of an object into the safety area S.
  • a safety area S defined in this way is that it is obtained directly from the working process of the machine 2 and can be easily adapted in the event of subsequent changes in the working cycle. Furthermore, structural measures to set up physical barriers can be omitted and the extension of the safety area S can be reduced to the extent that is immediately necessary, so that the method according to the invention can also be implemented in a very space-saving manner at the location of the machine 2 .

Landscapes

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

Abstract

L'invention concerne un procédé de sécurisation d'une zone de sécurité (S) dans la zone spatiale qui entoure une machine (1) dont le fonctionnement est automatisé au moyen d'une commande de machine (1) et qui comprend des pièces de machine (3) qui sont déplacées pendant un cycle de travail (3) ; le procédé étant caractérisé en ce que l'ensemble des positions spatiales adoptées par les pièces de machine (3) en mouvement lors d'un cycle de travail étant déterminé en tant qu'espace de déplacement ; et une surface enveloppante (H) proche de la surface de l'espace de déplacement étant déterminée pour l'espace de déplacement sous la forme de points de données (Pi, i=1...N), à partir de laquelle un espace enveloppant entourant l'espace de déplacement est calculé et formant la zone de sécurité (S). La zone de sécurité (S) est ainsi obtenue directement à partir du processus de travail de la machine (2) et peut être facilement adaptée en cas de modifications ultérieures apportées au cycle de travail. En outre, des mesures de construction pour l'édification de barrières physiques peuvent être supprimées et les dimensions de la zone de sécurité (S) peuvent être réduites au strict nécessaire.
EP22712863.4A 2021-03-04 2022-02-28 Procédé de détermination d'une zone de sécurité Pending EP4301558A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA50154/2021A AT524808B1 (de) 2021-03-04 2021-03-04 Verfahren zur festlegung eines sicherheitsbereiches
PCT/EP2022/054981 WO2022184639A1 (fr) 2021-03-04 2022-02-28 Procédé de détermination d'une zone de sécurité

Publications (1)

Publication Number Publication Date
EP4301558A1 true EP4301558A1 (fr) 2024-01-10

Family

ID=80952460

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22712863.4A Pending EP4301558A1 (fr) 2021-03-04 2022-02-28 Procédé de détermination d'une zone de sécurité

Country Status (3)

Country Link
EP (1) EP4301558A1 (fr)
AT (1) AT524808B1 (fr)
WO (1) WO2022184639A1 (fr)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005063217C5 (de) * 2005-12-22 2022-08-18 Pilz Gmbh & Co. Kg Verfahren zum Konfigurieren einer Überwachungseinrichtung zum Überwachen eines Raumbereichsund entsprechende Überwachungseinrichtung
US9283678B2 (en) * 2014-07-16 2016-03-15 Google Inc. Virtual safety cages for robotic devices
US11396099B2 (en) * 2019-08-23 2022-07-26 Veo Robotics, Inc. Safe operation of machinery using potential occupancy envelopes

Also Published As

Publication number Publication date
AT524808A1 (de) 2022-09-15
WO2022184639A1 (fr) 2022-09-09
AT524808B1 (de) 2024-06-15

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