Safety detection device and safety detection system comprising same

Abstract

The invention relates to a safety detection device and a safety detection system comprising the same. The security detection apparatus includes a detector that detects an external object located in a detection area, and a controller that determines the detection area based on whether or not to communicate with a robot moving in a specific movement area. The controller is configured to determine the detection area as a preset initial detection area in a non-communication state in which no communication with the robot is performed, and further determine the detection area based on any one of posture information of the robot, operation information of the robot, and a combination thereof in a communication state in which communication with the robot is performed.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and the benefit of Korean Patent Application No. 10-2023-0074978 filed in the Korean Intellectual Property Office on June 12, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to a safety detection device and a safety detection system comprising the safety detection device. Background Art

[0004] The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0005] In recent years, robots have been used to perform various tasks. These robots include charging robots that can charge the batteries of electric vehicles. The charging robot can be provided with a robot arm having a charging port at one end thereof, and the robot arm can be moved so that the charging port is connected to the electric vehicle.

[0006] When the robot arm moves, external objects (e.g., people) located around the robot may collide with the robot arm. Therefore, it may be desirable to provide a safety detection device that can promote human safety by preventing collisions between humans and robot arms.

[0007] For example, a conventional safety detection device stops the operation of the robot whenever an external object is detected in an area (e.g., a detection area) where there is no possibility of collision with the robot. Since the operation of the robot is stopped even when the external object is located in an area where there is no possibility of collision with the robot, the efficiency of the robot in performing tasks is reduced due to unnecessary stopping of the operation of the robot. Summary of the invention

[0008] The present disclosure aims to solve the above-mentioned problems occurring in the prior art while maintaining the advantages of the prior art unchanged.

[0009] An aspect of the present disclosure provides a safety detection device that can determine an optimal detection area based on a state of a robot to prevent a moving operation of the robot from being stopped unnecessarily.

[0010] The technical problems to be solved by the present disclosure are not limited to the above-mentioned problems, and any other technical problems not mentioned herein should be clearly understood by a person of ordinary skill in the art to which the present disclosure belongs from the following description.

[0011] According to one aspect of the present disclosure, a safety detection device includes a detector and a controller, the detector detects an external object located in a detection area, and the controller determines the detection area based on whether it communicates with a robot moving in a specific moving area. Specifically, the controller is configured to determine the detection area as a preset initial detection area in a non-communication state without communicating with the robot. The controller is further configured to determine the detection area based on any one of the posture information of the robot, the operation information of the robot, and a combination thereof in a communication state in which the robot communicates.

[0012] In addition, when the controller is in a communication state, the controller may determine a danger detection area in the detection area based on the posture information of the robot. When two reference planes intersecting each other are defined as an X plane and a Y plane, the danger detection area may include a first danger detection area between the X plane and a first side of the robot close to the X plane, and a second danger detection area between the Y plane and a second side of the robot close to the Y plane.

[0013] Furthermore, when a direction facing the robot from the X plane is defined as the +Y direction, a direction facing the robot from the Y plane is defined as the +X direction, and a reference plane defining one side of the first danger detection area along the +Y direction is defined as the X1 plane, a first angle defined by the X plane and the X1 plane relative to the current posture of the robot is calculated by the following equation 1:

[0014] [Equation 1]

[0015]

[0016] Where: A1 is the first angle, y min is the distance between one end of the robot along the -Y direction and the X plane, y offset is the first Y deviation correction value, x max is the distance between one end of the robot along the +X direction and the Y plane, and x offset is the first X deviation correction value.

[0017] In addition, the robot may be configured to charge a vehicle, and when the vehicle as a charging target is disposed on one side of the safety detection device along the +X direction, the spacing between the Y plane and the vehicle may be greater than the sum of the spacing between one end of the robot along the +X direction and the Y plane and the first X deviation correction value.

[0018] In addition, the X1 plane may extend a first length from the detector in the +X direction to be inclined at a first angle relative to the X plane, and the first length relative to the current posture of the robot may be calculated by the following Equation 2:

[0019] [Equation 2]

[0020]

[0021] Where: L1 is the first length, y min is the distance between one end of the robot along the -Y direction and the X plane.

[0022] In addition, the direction facing the robot from the X plane can be defined as the +Y direction, the direction facing the robot from the Y plane can be defined as the +X direction, and the reference plane defining one side of the second danger detection area along the +X direction can be defined as the Y1 plane. The second angle defined by the Y plane and the Y1 plane relative to the current posture of the robot can be calculated by the following equation 3:

[0023] [Equation 3]

[0024]

[0025] Where: A2 is the second angle, x R is the distance between the center of the robot body and the Y plane, x offsetR is the second X deviation correction value, y R is the distance between the center of the robot body and the X plane, and y offsetR is the second Y deviation correction value.

[0026] In addition, the Y1 plane may extend a second length from the detector in the +Y direction to be inclined at a second angle relative to the Y plane, and the second length relative to the current posture of the robot may be calculated by the following Equation 4:

[0027] [Equation 4]

[0028]

[0029] Wherein, L2 is the second length.

[0030] In addition, the controller may be configured to determine the danger detection area based on the current posture information of the robot when the controller is in a communication state and the robot is in a non-operation state. The controller is further configured to determine the danger detection area based on the posture information of the operation schedule (i.e., the target posture information of the robot) when the controller is in a communication state and the robot is scheduled to operate to be positioned at a target posture.

[0031] Furthermore, the controller may be configured to stop the operation of the robot when the detector detects an external object in a danger detection area determined based on posture information of the operation schedule while the robot is operating.

[0032] Furthermore, the controller may be configured to stop charging of the robot when the detector detects an external object in a danger detection area based on current posture information while the robot is charging the vehicle.

[0033] Furthermore, the hazard detection area may overlap with a portion of the movement area.

[0034] In addition, the safety detection device may further include an output part controlled by the controller to output visual information and auditory information based on whether the controller communicates with the robot and the detection result of the detector.

[0035] In addition, the detector may include a safety sensor and a rotation module, the safety sensor detecting an external object located within a specific distance from the detector, the rotation module causing the safety sensor to rotate around a rotation axis extending in an up / down direction, and when a direction in which the rotation module causes the safety sensor to rotate is defined as a rotation direction, and when an angle defined by one side and an opposite side of the detection area along the rotation direction is defined as a threshold angle, the rotation module causing the safety sensor to rotate within a rotation angle range of the threshold angle or less.

[0036] In addition, the safety sensor may include at least one of a photosensitive sensor, a LiDAR sensor, an ultrasonic sensor, or an image sensor.

[0037] According to another aspect of the present disclosure, a safety detection system includes a robot moving in a specific moving area and a safety detection device including a detector that detects an external object located in the detection area. The safety detection device further includes: a controller that determines the detection area based on whether to communicate with the robot. The robot includes a robot body and a robot arm connected to the robot body to be movable and determine the posture of the robot. The controller can be configured to determine the detection area based on any one of the posture information of the robot, the operation information of the robot, and a combination thereof in a communication state in which the robot is communicated.

[0038] In addition, when the controller is in a communication state, the controller can determine a danger detection area in the detection area based on the posture information of the robot, and the movement area of ​​the robot is divided by the X plane and the Y plane, which are two reference planes that pass through the detector and intersect with each other. The danger detection area may include a first danger detection area located between the side of the robot close to the X plane and the X plane. The robot can be configured to charge a vehicle, when the direction facing the robot from the Y plane is defined as the +X direction, and when the vehicle as the charging target is set on the side of the robot along the +X direction, the distance between the Y plane and the side of the vehicle along the +X direction can be greater than the distance between one side of the first danger detection area and the Y plane. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description in conjunction with the accompanying drawings:

[0040] Figure 1 is a block diagram conceptually illustrating a configuration of a safety detection system according to an embodiment of the present disclosure;

[0041] Figure 2 is a stereogram of a safety detection device and a robot according to an embodiment of the present disclosure;

[0042] Figure 3 is a view showing a danger detection area and a safety detection area according to an embodiment of the present disclosure;

[0043] Figure 4 It is shown Figure 3 A view of the changing state of the danger detection area as the robot moves;

[0044] Figure 5 A diagram showing a safety detection system in a first state according to an embodiment of the present disclosure;

[0045] Figure 6 A diagram showing a safety detection system in a second state according to an embodiment of the present disclosure;

[0046] Figure 7 is a view showing a state in which a robot stops in a safety detection system in a third state according to an embodiment of the present disclosure;

[0047] Figure 8 is a view showing a state in which a robot moves in a safety detection system in a third state according to an embodiment of the present disclosure;

[0048] Fig. 9 A view showing a safety detection system in a fourth state according to an embodiment of the present disclosure;

[0049] Fig.10 A diagram showing a safety detection system in a fifth state according to an embodiment of the present disclosure; and

[0050] Fig.11 is a flowchart illustrating a method of controlling a safety detection system according to an embodiment of the present disclosure.

[0051] The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way.

[0052] Description of Reference Numerals

[0053] 1: Safety detection system

[0054] 10: Safety detection device

[0055] 100: Detector

[0056] 110: Safety sensor

[0057] 120: Rotation module

[0058] 200: Output component

[0059] 210: Display

[0060] 220: Speaker

[0061] 300: Controller

[0062] 20: Robot

[0063] 21: Robot body

[0064] 22: Robotic Arm

[0065] 23: Charging port DETAILED DESCRIPTION

[0066] Hereinafter, embodiments of the present disclosure are described in detail with reference to the accompanying drawings. When adding reference numerals to components of the accompanying drawings, it should be noted that the same components are represented by the same reference numerals even when drawn in different drawings. In addition, when describing embodiments of the present disclosure, when it is determined that a detailed description of a related known configuration or function would hinder the understanding of the embodiments of the present disclosure, the detailed description is omitted.

[0067] In addition, when describing the components of the embodiments of the present disclosure, terms such as first, second, "A", "B", (a), and (b) may be used. These terms are only used to distinguish components, and the nature, sequence, and order of the corresponding components are not limited by these terms. When describing a component as "connected to", "fastened to", or "inserted into" another component, it should be understood that the former component can be directly connected to, fastened to, or inserted into the latter component, but a third component can be "connected", "fastened to", or "inserted" between the components.

[0068] When a component, device, element, etc. of the present disclosure is described as having a purpose or performing an operation, function, etc., the component, device, element should be considered as being “configured to” achieve the purpose or perform the operation or function herein.

[0069] Hereinafter, a safety detection system 1 according to an embodiment of the present disclosure is described with reference to the accompanying drawings.

[0070] Reference Figure 1 and Figure 2, the safety detection system 1 may include a safety detection device 10 and a robot 20. The safety detection device 10 may prevent the external object 2 and the robot 20 from colliding with each other. As an example, the external object 2 may include various objects, such as humans, animals, etc. For example, the safety detection device 10 may promote human safety by preventing pedestrians from colliding with the robot 20.

[0071] The safety detection device 10 can communicate with the robot 20. For example, the safety detection device 10 can communicate with the robot 20 wirelessly (e.g., Wi-Fi connection or Bluetooth connection) or by wire. The safety detection device 10 may include a detector 100, an output component 200, and a controller 300.

[0072] The detector 100 may detect an external object located in a detection area. The detection area may refer to a space where the external object is located. As an example, the detector 100 may be fixedly disposed on the ground located in a charging station where a battery of a vehicle may be charged. The detector 100 may include a safety sensor 110 and a rotation module 120.

[0073] The safety sensor 110 may detect an external object. For example, the safety sensor 110 may detect an external object located within a specific distance from the detector 100. In a more specific example, the safety sensor 110 may detect an external object located within a specific distance from the detector 100 relative to a horizontal direction.

[0074] The safety sensor 110 may include a light emitting component and a light receiving component. The light emitting component may output light in a direction away from the safety sensor 110. In addition, when the light output from the light emitting component is reflected after reaching an external object, the reflected light may be input to the light receiving component. The safety sensor 110 may generate a light emitting signal when light is output from the light emitting component, and generate a light receiving signal when light is input to the light receiving component. The light emitting signal and the light receiving signal may be input to the controller 300.

[0075] The safety sensor 110 may include at least one of a photosensitive sensor, a laser radar sensor, an ultrasonic sensor, an image sensor, and any combination thereof. The photosensitive sensor may be a type in which a light receiving component and a light emitting component are integrally formed. The photosensitive sensor may include: a light emitting component that outputs light having a specific frequency; and a light receiving component, to which light output from the light emitting component and then reflected by an external object is input. The photosensitive sensor may identify an external object by light output from the light emitting component and light input to the light receiving component. In addition, the photosensitive sensor may adjust the intensity of light output from the light emitting component, and the detection distance of the photosensitive sensor may be adjusted by adjusting the intensity of the light.

[0076] In addition, a light detection and ranging (LiDAR) sensor may include: a light emitting component that outputs light having a specific frequency; and a light receiving component, to which light output from the light emitting component and then reflected is input. As an example, a LiDAR sensor can identify an object by using a time-of-flight (ToF) function. A LiDAR sensor using a ToF function can emit a laser beam that is continuously modulated and has a specific frequency at the same time, and can measure the relative distance to an external object based on the degree of change in the phase of a laser signal obtained when the emitted light beam is reflected by an external object. The LiDAR sensor can identify an external object located in a detection area by repeating the ToF function several times per unit time.

[0077] A plurality of safety sensors 110 may be provided. As an example, the plurality of safety sensors 110 may be arranged along the up / down direction "H" of the safety detection device 10. In addition, the plurality of safety sensors 110 may be arranged along the up / down direction "H" and in a horizontal direction perpendicular to the up / down direction "H". The plurality of safety sensors 110 may include a first safety sensor, a second safety sensor, and a third safety sensor.

[0078] The rotation module 120 may rotate the safety sensor 110 around a rotation axis extending in the up / down direction "H". The rotation module 120 may rotate the safety sensor 110 within a threshold angle or less detection rotation angle. The threshold angle may be defined as an angle defined by one side and an opposite side of the detection area along the rotation direction. The rotation direction may be defined as a direction in which the rotation module 120 rotates the safety sensor 110.

[0079] As an example, the rotation module 120 may be a servo motor that may be driven by a signal received from the controller 300. The rotation module 120 may be controlled by the controller 300.

[0080] In addition, the rotation module 120 can independently rotate the plurality of safety sensors 110. For example, the controller 300 can control the rotation module 120 so that the plurality of safety sensors 110 are respectively rotated within a detection rotation angle of a threshold angle or less. The rotation module 120 can be controlled by the controller 300 so that the first safety sensor rotates within a first detection rotation angle of a first threshold angle or less, the second safety sensor rotates within a second detection rotation angle of a second threshold angle or less, and the third safety sensor rotates within a third detection rotation angle of a third threshold angle or less.

[0081] The detection area may be determined according to the detection distance and the detection rotation angle. For example, when the detector 100 is viewed in the up / down direction "H", the detection area may have a fan-shaped shape whose radius is the detection distance and whose center angle is the detection rotation angle.

[0082] The output part 200 may output visual information and auditory information to the outside based on the state of the safety detection system 1. The output part 200 may be controlled by one or more of the robot 20 and the controller 300. For example, in a non-communication state in which the robot 20 and the controller 300 do not communicate with each other, the output part 200 may be controlled by the controller 300, and in a communication state in which the robot 20 and the controller 300 communicate with each other, the output part 200 may be controlled by the robot 20 and the controller 300. The output part 200 may include a display 210 and a speaker 220.

[0083] The display 210 may output visual information to the outside. The display 210 may display images and text. For example, the display 210 may output visual information indicating a safe state, an unsafe state, and a dangerous state to the outside. For example, the display 210 may display a first color when outputting a safe state to the outside, may display a second color when outputting an unsafe state to the outside, and may display a third color when outputting a dangerous state to the outside. For example, the first color may be green, the second color may be yellow, and the third color may be red.

[0084] In addition, the display 210 may display various texts depending on whether the vehicle is being charged. For example, the display 210 may display text notifying that the vehicle is being charged when the vehicle is being charged. In addition, the display 210 may display convenient information such as temperature, weather, or time or a greeting message when the vehicle is not being charged. As an example, the display 210 may be various devices that can display visual information, such as an LCD or an LED.

[0085] Various visual information may be input in advance to the controller 300. In addition, when the robot 20 and the controller 300 are in a non-communication state, the display 210 may be controlled by the controller 300 so that the visual information input in advance to the controller 300 is output to the outside.

[0086] The speaker 220 may output auditory information to the outside. As an example, the auditory information may include auditory information indicating a safe state, an unsafe state, and a dangerous state, as well as convenient information such as whether the vehicle is charged, temperature, weather, and time. As an example, the speaker 220 may be a speaker equipped with an audio amplifier.

[0087] In addition, the speaker 220 may be connected to the robot 20 by wire or wirelessly. In addition, when the robot 20 and the controller 300 are in a non-communication state, the speaker 220 may be controlled by the controller 300 so that the sound data stored in the audio amplifier is output to the outside.

[0088] The controller 300 may determine the detection area based on whether or not it communicates with the robot 20. In a non-communication state, the controller 300 may determine the detection area as a preset initial detection area.

[0089] Further references Figure 3 and Figure 4 , the initial detection area may be divided by an X-plane "Px" and a Y-plane "Py". The X-plane Px may be defined as a reference plane perpendicular to the first direction +Y. The first direction +Y may be defined as a direction perpendicular to the up / down direction "H". In addition, the Y-plane Py may be defined as a reference plane perpendicular to the second direction +X. The second direction +X may be defined as a direction perpendicular to the up / down direction and not parallel to the first direction +Y. For example, the first direction +Y and the second direction +X may be perpendicular to each other. In a more specific example, the first direction +Y may be a direction parallel to the front / back direction, and the second direction +X may be a direction parallel to the left / right direction.

[0090] The X-plane Px and the Y-plane Py may intersect each other in the detector 100. In other words, the X-plane Px and the Y-plane Py may be parallel to the up / down direction "H" at a reference line, and the reference line may pass through the detector 100. When the safety detection system 1 is viewed in the up / down direction, the initial detection area may have a fan-shaped shape having a central angle of 90 degrees.

[0091] Reference Figure 5 , the controller 300 can control the output component 200 so that visual information and auditory information indicating a safe state are output to the outside when the safety detection system 1 is in the first state. The first state can be defined as a state in which the robot 20 and the controller 300 are in a non-communication state and the external object 2 is not located in the initial detection area.

[0092] Further references Figure 6 , the controller 300 can control the output component 200 so that visual information and auditory information indicating a dangerous state are output to the outside when the safety detection system 1 is in the second state. The second state can be defined as a state in which the robot 20 and the controller 300 are in a non-communication state and the external object 2 is located in the initial detection area.

[0093] Return to reference Figure 3In the communication state, the controller 300 may determine the detection area based on any one of the posture information or operation information of the robot 20 and a combination thereof. In the communication state, the controller 300 may determine the danger detection areas DR1 and DR2 in the detection area based on the posture information of the robot 20. For example, when the controller 300 is in the communication state and the robot 20 is in the non-operation state, the controller 300 may determine the danger detection areas DR1 and DR2 based on the current posture information of the robot 20. The danger detection areas DR1 and DR2 may include a first danger detection area DR1 and a second danger detection area DR2.

[0094] Hereinafter, the danger detection areas DR1 and DR2 determined based on the current posture information of the robot 20 are further described.

[0095] The first danger detection area DR1 may be located between one side of the robot 20 along the X-plane "Px" and the X-plane "Px". For example, the first danger detection area DR1 may be located between a first plane passing through one end of the robot 20 along the X-plane Px (one end of the robot 20 along the -Y direction) and serving as a reference plane parallel to the X-plane Px and the X-plane Px. In a more specific example, the first danger detection area DR1 may be provided between the first plane and the +X plane. The +X plane may be defined as a reference plane located on one side of the detector 100 along the +X direction.

[0096] The first danger detection area DR1 may be divided by an X1 plane Px1 and an X plane Px. In other words, the X1 plane "Px1" may be a reference plane defining one side of the first danger detection area DR1 along the +Y direction, and the X plane Px may define one side of the first danger detection area DR1 along the -Y direction. When the X1 plane is observed in the up / down direction, the X1 plane may have a reference line form extending a first length L1. A reference plane may be defined as a set of reference lines extending a specific length.

[0097] In addition, when the safety detection system 1 is observed in the up / down direction, the first danger detection area DR1 may have a fan-shaped shape, the central angle of the fan-shaped shape is the first angle A1, and the radius is the first length L1. The first angle A1 may be defined as an angle defined by the X plane Px and the X1 plane Px1. The first angle A1 may be the first detection rotation angle described above. The first angle A1 may be calculated by Equation 1.

[0098] [Equation 1]

[0099]

[0100] Where: A1 is the first angle, y min is the distance between one end of the robot along the -Y direction and the X plane, yoffset is the first Y deviation correction value, x max is the distance between one end of the robot along the +X direction and the Y plane, and x offset is the first X bias correction value.

[0101] As an example, the first Y deviation correction value may be not less than y min 0.05 times and not greater than y min However, the present disclosure is not limited to this example, and the first Y deviation correction value may be determined differently according to the kind of the robot body 21.

[0102] In addition, as an example, the first X-bias correction value may be no greater than x max 0.05 times and not less than x max However, the present disclosure is not limited to this example, and the first X deviation correction value may be determined differently according to the kind of the robot arm 22 .

[0103] In addition, when the vehicle "C" as the charging target is set on one side of the safety detection device 10 along the +X direction, the first distance d1 can be smaller than the second distance d2. The first distance d1 can be defined as the distance between one end of the first danger detection area DR1 along the +X direction and the Y plane Py. The first distance d1 can be defined as the sum of the distance between one end of the robot 20 along the +X direction (as an example, the charging port 23 described below) and the Y plane Py and the first X deviation correction value. The second distance d2 can be defined as the distance between the Y plane Py and the vehicle "C".

[0104] The first length L1 may be a detection distance of the first danger detection area DR1. The first length L1 may be calculated by Equation 2.

[0105] [Equation 2]

[0106]

[0107] Where: L1 is the first length, y min is the distance between one end of the robot along the -Y direction and the X plane.

[0108] In the communication state, the controller 300 may control the rotation module 120 so that the first safety sensor rotates based on the first angle A1. In addition, in the communication state, the controller 300 may determine that the external object 2 is detected when the first safety sensor detects the external object 2 located in an area spaced apart from the detector 100 by the first length L1.

[0109] Furthermore, in the communication state, when the first safety sensor detects the external object 2 located in a region farther than the first length L1 from the detector 100 , the controller 300 may determine that the external object 2 is not detected.

[0110] The second danger detection area DR2 may be located between one side of the robot 20 along the Y-plane Py and the Y-plane Py. For example, the second danger detection area DR2 may be located between a second plane that is a reference plane passing through one end of the robot 20 along the Y-plane Py (as an example, one end of the robot 20 along the -X direction) and parallel to the Y-plane Py and the Y-plane Py. In a more specific example, the second danger detection area DR2 may be provided between the second plane and the +Y plane. The +Y plane may be defined as a reference plane located on one side of the detector 100 along the +Y direction in the Y-plane Py.

[0111] The second danger detection area DR2 may be divided by the Y1 plane Py1 and the Y plane Py. In other words, the Y1 plane Py1 may be a reference plane defining one side of the second danger detection area DR2 along the +X direction, and the Y plane Py may define one side of the second danger detection area DR2 along the -X direction. When the Y1 plane Py1 is observed in the up / down direction, the Y1 plane Py1 may have a reference line form extending a second length L2. In addition, the robot 20 may be disposed between the X1 plane Px1 and the Y1 plane Py1. For example, the robot 20 may be disposed to be spaced apart from the X1 plane Px1 and the Y1 plane Py1.

[0112] In addition, when the safety detection system 1 is observed in the up / down direction, the second danger detection area DR2 may have a fan-shaped shape, the central angle of the fan-shaped shape is the second angle A2, and the radius is the second length L2. The second angle A2 may be defined as an angle defined by the Y plane Py and the Y1 plane Py1. The second angle A2 may be the second detection rotation angle described above. The second angle A2 may be calculated by Equation 3.

[0113] [Equation 3]

[0114]

[0115] Where: A2 is the second angle, x R is the distance between the center of the robot body and the Y plane, x offsetR is the second X deviation correction value, y R is the distance between the center of the robot body and the X plane, and y offsetR is the second Y deviation correction value.

[0116] When the radius of the robot body 21 having a cylindrical shape is defined as the robot radius, the second Y deviation correction value may be determined according to the robot radius. For example, the second Y deviation correction value may be 1.2 times the robot radius. However, the present disclosure is not limited to this example, and the second Y deviation correction value may be determined differently according to the type of the robot body 21.

[0117] In addition, the second X deviation correction value may be determined according to the robot radius. For example, the second X deviation correction value may be 1.2 times the robot radius. However, the present disclosure is not limited to this example, and the second X deviation correction value may be determined differently according to the type of the robot body 21.

[0118] The second length L2 may be a detection distance of the second danger detection area DR2. The second length L2 may be calculated by Equation 4.

[0119] [Equation 4]

[0120]

[0121] Wherein, L2 is the second length.

[0122] In the communication state, the controller 300 may control the rotation module 120 so that the second safety sensor rotates based on the second angle A2. In addition, in the communication state, the controller 300 may determine that the external object 2 is detected when the second safety sensor detects the external object 2 located in an area spaced apart from the detector 100 by the second length L2.

[0123] Furthermore, in the communication state, the controller 300 may determine that the external object 2 is not detected when the second safety sensor detects the external object 2 located in an area farther from the detector 100 than the second length L2.

[0124] In addition, when the controller 300 is in the communication state, the detection area may further include a safety detection area SA. When the four areas divided by the X plane Px and the Y plane Py are the first divided area, the second divided area, the third divided area, and the fourth divided area, the danger detection areas DR1 and DR2 may be located in any one of the first to fourth divided areas, and the safety detection area SA may be located in the remaining three divided areas.

[0125] The first divided area may be an area divided by the +X plane and the +Y plane, the second divided area may be an area divided by the -X plane and the +Y plane, the third divided area may be an area divided by the -X plane and the -Y plane, and the fourth divided area may be an area divided by the +X plane and the -Y plane.

[0126] The safety detection area SA may be located in the second to fourth divided areas. As an example, when the safety detection system 1 is observed in the up / down direction, the safety detection area SA may be a sector, the central angle of the sector (hereinafter referred to as the safety central angle) is 270 degrees, and the radius is a safety length less than the second length L2. The safety central angle may be the third detection rotation angle described above.

[0127] In the communication state, the controller 300 can control the rotation module 120 so that the third safety sensor rotates based on the safety center angle. In addition, in the communication state, the controller 300 can determine that the external object 2 is detected when the third safety sensor detects an external object 2 located in an area spaced a safety length from the detector 100.

[0128] Furthermore, in the communication state, the controller 300 may determine that the external object 2 is not detected when the third safety sensor detects the external object 2 located in an area farther from the detector 100 than the safety length.

[0129] Return to reference Figure 4 , when the controller 300 is in the communication state and the robot 20 is operated to be in the target posture, the controller 300 can determine the danger detection areas DR1 and DR2 based on the posture information of the operation schedule (i.e., the target posture information of the robot 20). When the robot 20 is scheduled for operation, the controller 300 can change the determined danger detection areas DR1 and DR2 based on the current posture information of the robot 20. In other words, when the robot 20 is scheduled for operation, the controller 300 can actively redetermine the danger detection areas DR1 and DR2 corresponding to the operation scheduled by the robot 20.

[0130] When the robot 20 is scheduled to operate to be positioned at a target posture, the controller 300 may change the first danger detection area DR1 based on the scheduled operation of the robot 20. For example, when one end of the robot 20 along the +X direction is scheduled to move to the target position, the controller 300 may determine the first danger detection area DR1 based on the relative position of one end of the robot 20 along the +X direction and the detector 100.

[0131] In a more specific example, when one end of the robot 20 along the +X direction is scheduled to move in a direction farther from or closer to the X plane Px than the current posture of the robot 20, the controller 300 can determine the first danger detection area DR1 when the one end of the robot 20 along the +X direction moves to the target position. The controller 300 can determine the first danger detection area DR1 so that the robot 20 and the first danger detection area DR1 do not overlap with each other. Because the controller 300 can determine the first danger detection area DR1 so that the robot 20 and the first danger detection area DR1 do not overlap with each other, the safety detection system 1 can be prevented from malfunctioning when the detector 100 detects the robot 20.

[0132] Furthermore, when the robot 20 is scheduled to operate to be positioned at a target posture, the controller 300 may determine the first danger detection area DR1 based on Equation 1 and Equation 2 when one end of the robot 20 moves to the target position in the +X direction.

[0133] Further references Figure 7 and Figure 8 , the controller 300 can control the output component 200 so that visual information and auditory information indicating a safe state are output to the outside when the safety detection system 1 is in the third state. The third state can be defined as a state in which the robot 20 and the controller 300 are in a communication state and the external object 2 is not located in the danger detection areas DR1 and DR2 and the safety detection area SA.

[0134] Further references Fig. 9 , the controller 300 can control the output component 200 so that visual information and auditory information indicating an unsafe state are output to the outside when the safety detection system 1 is in the fourth state. The fourth state can be defined as a state in which the robot 20 and the controller 300 are in a communication state and the external object 2 is located in the safety detection area SA.

[0135] Furthermore, the controller 300 may control the output part 200 so that a message indicating that the vehicle is being charged is output to the outside when the safety detection system 1 is in the fourth state and the robot 20 is charging the vehicle.

[0136] In addition, the controller 300 may control the output part 200 so that information on temperature, weather, and time is output to the outside when the safety detection system 1 is in the fourth state and the robot 20 is not charging the vehicle.

[0137] Further references Fig.10, the controller 300 can control the output component 200 so that visual information and auditory information indicating a dangerous state are output to the outside when the safety detection system 1 is in the fifth state. The fifth state can be defined as a state in which the robot 20 and the controller 300 are in a communication state and the external object 2 is located in the danger detection areas DR1 and DR2.

[0138] Furthermore, when the safety detection system 1 is in the fifth state and the robot 20 is operated, the controller 300 may stop the operation of the robot 20 .

[0139] Furthermore, when the safety detection system 1 is in the fifth state and the robot 20 is charging the vehicle, the controller 300 may cause the robot 20 to stop charging the vehicle.

[0140] The controller 300 may be implemented by a processor which is electrically connected to the robot 20 , the detector 100 , and the output part 200 and has a function of decoding and executing a command based on information input in advance.

[0141] The robot 20 can move in a specific moving area. The moving area can be located in the first divided area. For example, the moving area can be the remaining area in the first divided area except the second danger detection area DR2. However, the present disclosure is not limited to this example, and according to the mechanism of the robot 20, the moving area can overlap with at least a portion of the second danger detection area DR2. Any part of the moving area can overlap with the first danger detection area DR1. The robot 20 may include a robot body 21, a robot arm 22, and a charging port 23.

[0142] The robot body 21 may support the robot arm 22 and the charging port 23. The robot body 21 may be disposed to be spaced apart from the detector 100 in a horizontal direction. In addition, the relative positions of the robot body 21 and the detector 100 may be fixed. The robot body 21 may be fixedly disposed on the ground located at the charging station.

[0143] The robot arm 22 may be connected to the robot body 21 so as to be rotatable. The robot arm 22 may be rotated around a rotation axis passing through the robot body 21 and extending in the up / down direction "H". In addition, the robot arm 22 may include a plurality of connecting rods. The plurality of connecting rods may be configured to rotate relative to each other. One end of the robot arm 22 may be connected to the robot body 21.

[0144] The charging port 23 may be fastened to the vehicle “C” to charge the battery of the vehicle “C.” The charging port 23 may be connected to opposite ends of the robot arm 22 . The charging port 23 may be moved in a horizontal direction by rotation of a plurality of links of the robot arm 22 .

[0145] In the following, reference is made to Fig.11 , describing the process of positioning the safety detection system 1 in the first to fifth states.

[0146] The controller 300 may determine whether the safety detection device 10 and the robot 20 are in a communication state ( S10 ).

[0147] When the safety detection device 10 and the robot 20 are in a non-communication state, the controller 300 may determine whether the external object 2 is located in the initial detection area ( S20 ).

[0148] When the controller 300 determines that the external object 2 is not located in the initial detection area, the safety detection system 1 may be in the first state ( S21 ).

[0149] When the controller 300 determines that the external object 2 is located in the initial detection area, the safety detection system 1 may be in the second state ( S22 ).

[0150] When the safety detection device 10 and the robot 20 are in a communication state, the controller 300 may determine whether the robot 20 is operated ( S30 ).

[0151] When the controller 300 determines that the robot 20 is operated, the controller 300 may determine the danger detection areas DR1 and DR2 (recognize the operation range of the robot 20 ) based on the posture information of the operation schedule of the robot 20 .

[0152] When the controller 300 determines that the robot 20 is not operated, the controller 300 may determine the danger detection areas DR1 and DR2 based on the current posture information of the robot 20 ( S32 ).

[0153] The controller 300 may determine whether the external object 2 is located in the determined detection area ( S40 ).

[0154] When the controller 300 determines that the external object 2 is not located in the determined detection area, the safety detection system 1 may be in the third state ( S41 ).

[0155] When the controller 300 determines that the external object 2 is located in the determined detection area, the controller 300 may determine whether the external object 2 is located in the safety detection area SA ( S50 ).

[0156] When the controller 300 determines that the external object 2 is located in the danger detection regions DR1 and DR2 , the safety detection system 1 may be in the fourth state ( S51 ).

[0157] When the controller 300 determines that the external object 2 is located in the safety detection area SA, the safety detection system 1 may be in the fifth state ( S52 ).

[0158] The safety detection device according to the present disclosure prevents the efficiency of the robot in performing tasks from being reduced by preventing the movement operation of the robot from being stopped unnecessarily by determining an optimal detection area based on the state of the robot.

[0159] Even if it has been described above that all components constituting the embodiments of the present disclosure are combined into one or combined to operate, the present disclosure is not limited to these embodiments. That is to say, all components can be selectively combined into one to operate within the scope of the purpose of the present disclosure. Further, because the above-mentioned terms, such as "comprising", "including" or "having" mean that the corresponding components can be included, unless specifically described in an opposite manner, it should be interpreted as not excluding another component, but may further include another component. Unless otherwise defined, all terms including technical or scientific terms have the same meaning as the meaning generally understood by technicians in the field to which the present disclosure belongs. Commonly used terms, such as pre-defined terms, should be interpreted as being consistent with the contextual meaning of the relevant technology, and should not be interpreted as an ideal or overly formal meaning unless so clearly defined in the present disclosure.

[0160] The above description is a simple example of the technical spirit of the present disclosure, and a person of ordinary skill in the art to which the present disclosure belongs can make various corrections and modifications to the present disclosure without departing from the features of the present disclosure. Therefore, the embodiments disclosed in the present disclosure are not provided to limit the technical concept of the present disclosure, but to describe the present disclosure, and the scope of the technical idea of ​​the present disclosure is not limited by the embodiments. Therefore, the technical scope of the present disclosure should be interpreted by the attached claims, and all technical spirits within the equivalent scope fall within the scope of the present disclosure.

Claims

1. A safety detection device, include: a detector, detecting an external object located in a detection area; as well as a controller that determines the detection area based on whether communication is performed with the robot moving in the moving area, The controller: In a non-communication state without communicating with the robot, determining the detection area as a preset initial detection area; and The detection area is determined based on any one of posture information of the robot and operation information of the robot in a communication state with the robot.

2. The safety detection device according to claim 1, in, When the controller is in the communication state, the controller determines a dangerous detection area in the detection area based on posture information of the robot, and When two intersecting reference planes are defined as an X plane and a Y plane, the danger detection area includes: A first danger detection area is located between the X-plane and a first side of the robot close to the X-plane; and The second danger detection area is located between the Y plane and a second side of the robot close to the Y plane.

3. The safety detection device according to claim 2, wherein when the direction from the X plane toward the robot is defined as the +Y direction, the direction from the Y plane toward the robot is defined as the +X direction, and the reference plane defining one side of the first danger detection area along the +Y direction is defined as the X1 plane, The first angle defined by the X plane and the X1 plane relative to the current posture of the robot is calculated as: in: A1 is the first angle, y min is the distance between one end of the robot along the -Y direction and the X plane, y offset is the first Y deviation correction value, x max is the distance between one end of the robot along the +X direction and the Y plane, and x offset is the first X deviation correction value.

4. The safety detection device according to claim 3, in, The robot charges the vehicle, and When the vehicle as the charging target is disposed on one side of the safety detection device along the +X direction, The distance between the Y plane and the vehicle is greater than the sum of the distance between one end of the robot along the +X direction and the Y plane and the first X deviation correction value.

5. The safety detection device according to claim 3, in, The X1 plane extends from the detector along the +X direction by a first length to be inclined by the first angle relative to the X plane, and The first length relative to the current posture of the robot is calculated as: Where: L1 is the first length, y min is the distance between one end of the robot along the -Y direction and the X plane.

6. The safety detection device according to claim 2, wherein when the direction from the X plane toward the robot is defined as the +Y direction, the direction from the Y plane toward the robot is defined as the +X direction, and the reference plane defining one side of the second danger detection area along the +X direction is defined as the Y1 plane, The second angle defined by the Y plane and the Y1 plane relative to the current posture of the robot is calculated as: in: A2 is the second angle, x R is the distance between the center of the robot body and the Y plane, x offsetR is the second X deviation correction value, y R is the distance between the center of the robot body and the X plane, and y offsetR is the second Y deviation correction value.

7. The safety detection device according to claim 6, wherein the Y1 plane extends from the detector along the +Y direction by a second length to be inclined relative to the Y plane by the second angle, and The second length relative to the current posture of the robot is calculated as: in, L2 is the second length.

8. The safety detection device according to claim 2, wherein the controller: determining the danger detection area based on current posture information of the robot when the controller is in the communication state and the robot is in a non-operation state; and When the controller is in the communication state and the robot is scheduled to be operated to be positioned at a target posture, the danger detection area is determined based on posture information of the operation schedule, that is, target posture information of the robot.

9. The safety detection device according to claim 8, wherein the controller: When the detector detects an external object in a danger detection area determined based on posture information of the operation schedule while the robot is operating, the operation of the robot is stopped.

10. The safety detection device according to claim 8, wherein the controller: When the detector detects an external object in a danger detection area based on the current posture information while the robot is charging a vehicle, charging of the robot is stopped.

11. The safety detection device according to claim 2, wherein the danger detection area overlaps with a portion of the movement area of ​​the robot.

12. The safety detection device according to claim 1, further comprising: include: An output part is controlled by the controller and outputs visual information and auditory information based on whether the controller communicates with the robot and a detection result of the detector.

13. The safety detection device according to claim 1, in, The detector comprises: a safety sensor that detects an external object within a specified distance from the detector; and A rotating module is used to rotate the safety sensor around a rotating shaft extending in the up / down direction of the safety detection device, and When a direction in which the rotation module rotates the safety sensor is defined as a rotation direction, and when an angle defined by one side and an opposite side of the detection area along the rotation direction is defined as a threshold angle, the rotation module rotates the safety sensor within a rotation angle range of the threshold angle or less. 14 . The safety detection device according to claim 13 , wherein the safety sensor comprises at least one of a photosensitive sensor, a LiDAR sensor, an ultrasonic sensor or an image sensor.

15. A safety detection system, include: The robot moves in the moving area; as well as A safety detection device, comprising a detector for detecting an external object located in a detection area and a controller for determining the detection area based on whether communication with the robot is performed, wherein: The robot comprises: A robot body; and a robot arm connected to the robot body so as to be able to move and determine the posture of the robot, and The controller: The detection area is determined based on any one of posture information of the robot and operation information of the robot in a communication state with the robot.

16. The safety detection system according to claim 15, in, When the controller is in the communication state, the controller determines a dangerous detection area in the detection area based on posture information of the robot, The movement area of ​​the robot is divided by an X plane and a Y plane, which are two reference planes passing through the detector and intersecting each other, The danger detection area includes a first danger detection area located between the X-plane and a first side of the robot close to the X-plane, The robot charges a vehicle, and when a direction facing the robot from the Y plane is defined as a +X direction, and a vehicle as a charging target is set on a second side of the robot along the +X direction, a distance between the Y plane and a side of the vehicle along the +X direction is greater than a distance between a side of the first danger detection area and the Y plane.

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