Risk assessment support device, risk assessment support program, and risk assessment support method

Abstract

A risk assessment assistance device (1A) includes: a calculation unit that receives input of layout information, which is information relating to a layout of a robot and an object around the robot, and robot control information, which is information relating to control of the robot; a calculation unit that calculates a solution to the position of the robot, the position of the device, and the operation of the robot on the basis of an evaluation function including a term indicating the size of a region in which a robot system including the robot and the device other than the robot is installed; and an output processing unit (15) that outputs layout information indicating a solution when the risk of the robot system falls within the allowable range, and robot control information.

Description

Technical Field

[0001] The present invention relates to a risk assessment assisting device, a risk assessment assisting program and a risk assessment assisting method for assisting risk assessment in the design phase of a robot system. Background Art

[0002] In recent years, the need to introduce robots in production sites such as factories has been increasing. In addition, from the perspective of work efficiency, robots are frequently used to work in collaboration with operators. In the above production sites, various improvements have been implemented to ensure the safety of operators.

[0003] Patent document 1 discloses a risk assessment assisting device that assists risk assessment in the design phase of a production line. The risk assessment assisting device in Patent document 1 identifies the hazard source and determines the hazard area based on the device information of the device, and calculates the risk in the hazard area. In addition, when it is determined that the calculated risk is not within the allowable range, the risk assessment assisting device in Patent document 1 selects a risk countermeasure or changes the device information by modifying the design.

[0004] Patent Document 1: Japanese Patent No. 6698042 Summary of the invention

[0005] When constructing a robot system including a robot and devices other than the robot, i.e., peripheral devices, at a production site, it is required to reduce space waste as much as possible, that is, the robot system as a whole is required to save space. In the risk assessment performed by the prior art disclosed in Patent Document 1, the space saving of the robot system is not considered. Therefore, according to the prior art, there is a problem that it is difficult to design a robot system that can ensure safety and save space.

[0006] The present invention has been made in view of the above circumstances, and an object of the present invention is to obtain a risk assessment support device capable of performing risk assessment for achieving safety assurance and space saving in a robot system.

[0007] In order to solve the above-mentioned problems and achieve the purpose, the risk assessment assistance device involved in the present invention comprises: a calculation unit, which is input with information related to the layout of the robot and its surrounding objects, namely, layout information, and information related to the control of the robot, namely, robot control information, and calculates the solution of the robot's position, the position of the device, and the robot's movement based on an evaluation function including a term representing the size of the area in which the robot system including the robot and devices other than the robot is set; and an output processing unit, which outputs the layout information and robot control information representing the solution when the risk of the robot system converges to an allowable range.

[0008] Effects of the Invention

[0009] The risk assessment support device according to the present invention has an effect of being able to perform risk assessment for achieving safety assurance and space saving in a robot system. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a diagram showing a configuration example of a risk assessment support device according to the first embodiment.

[0011] Figure 2 This is a flowchart showing the operation procedure of the risk assessment support device according to the first embodiment.

[0012] Figure 3 This is a flowchart showing the procedure of risk assessment processing performed by the risk assessment processing unit of the risk assessment supporting device according to the first embodiment.

[0013] Figure 4 This is a diagram for explaining an example of risk estimation executed by the risk assessment processing unit of the risk assessment supporting device according to the first embodiment.

[0014] Figure 5 This is a flowchart showing the procedure of the risk reduction process performed by the risk reduction processing unit of the risk assessment supporting device according to the first embodiment.

[0015] Figure 6 This is a diagram showing a configuration example of a risk assessment support device according to the second embodiment.

[0016] Figure 7 This is a diagram showing a configuration example of a risk assessment support device according to the third embodiment.

[0017] Figure 8 This is a diagram showing a configuration example of a risk assessment support device according to a fourth embodiment.

[0018] Fig. 9 This is a diagram showing a configuration example of a control circuit according to the first to fourth embodiments. DETAILED DESCRIPTION

[0019] Hereinafter, a risk assessment supporting device, a risk assessment supporting program, and a risk assessment supporting method according to an embodiment will be described in detail with reference to the accompanying drawings.

[0020] Implementation method 1.

[0021] Figure 1 1 is a diagram showing a configuration example of a risk assessment support device 1A according to Embodiment 1. The risk assessment support device 1A supports risk assessment in the design phase of a robot system. The robot system is installed at a production site such as a factory. The robot system includes a robot and peripheral devices other than the robot.

[0022] exist Figure 1 1A, an input device 2, and an output device 3 are shown in the figure. The input device 2 receives an input operation performed by a user of the risk assessment supporting device 1A. The user is, for example, a designer who designs a robot system. The input device 2 is a device such as a keyboard, a touch panel, a button, or a mouse. The input device 2 sends the input information to the risk assessment supporting device 1A.

[0023] The output device 3 obtains information from the risk assessment support device 1A and outputs the obtained information. The output device 3 is, for example, a display device that displays information. The display device is, for example, an LCD (Liquid Crystal Display) or an organic EL (Electro-Luminescence) display. The output device 3 can also be a printer that outputs information by printing.

[0024] The risk assessment support device 1A has an equipment information input processing unit 10, a layout information setting unit 11, a robot control information setting unit 12, an optimization calculation unit 13, a residual risk information acquisition unit 14, and an output processing unit 15. In addition, the risk assessment support device 1A has a storage unit for storing various information. The storage unit stores various information such as robot arm data, end effector data, peripheral object data, action data, work environment information, hazard source database, and safety-related equipment data. Figure 1 In FIG. 1 , each information stored in the storage unit is schematically represented.

[0025] Robot arm data is data related to the robot arm of each of the multiple robots that can be included in the robot system. Robot arm data is data related to the structure or movement of the robot arm. The robot has multiple arms and a drive unit provided at each joint. The joint is the connection point between the arms. The drive unit controls the joint angle. The robot arm data includes the robot's CAD (Computer Aided Design) data, the robot's degrees of freedom of movement, arm length, range of movement, maximum speed of the arm, position repeatability of the robot, information on the robot's drive method, the robot's transportable mass, the robot's main body mass, the robot's allowable torque or the robot's allowable inertia, etc.

[0026] End effector data is data related to the structure or action of the end effector installed on the robot. The end effector is a tool such as a hand that grasps an object, a screw tightener, or a welding gun. The end effector data includes the CAD data of the end effector, the body mass of the end effector, the information of the movable part of the end effector, or the information of the movable range of the end effector.

[0027] Peripheral object data is data related to objects existing around the robot, i.e., peripheral objects. The peripheral objects include devices included in the robot system. The devices included in the robot system, i.e., peripheral objects, are, for example, devices such as conveyors, feeders, or fixing fixtures. In addition, the peripheral objects include objects other than the devices included in the robot system. Among the peripheral objects other than the devices included in the robot system, there are objects placed in the space where the robot system is set up, i.e., tables, and components existing in the space where the robot system is set up, i.e., walls, columns, or doors. In the following description, the devices that serve as peripheral objects are referred to as peripheral devices. The peripheral object data related to the peripheral devices include CAD data of the peripheral devices, the main body mass of the peripheral devices, information on the movable parts of the peripheral devices, or information on the movable range of the peripheral devices. The peripheral object data related to the peripheral objects other than the peripheral devices include information on the position of the peripheral objects, or information on the range occupied by the peripheral objects.

[0028] The action data is data related to the actions of the operator and includes information on the operator's action range, the operator's action speed, or information on the assembly action performed by the operator.

[0029] The work environment information is information related to the operator who performs work around the robot, or information related to the work performed by the operator. The information related to the operator includes the proficiency of the work, i.e., the level, etc. The information related to the work includes information on the operator's range of motion, information on the work content, information on the work frequency, or information on the work process, etc. The information on the work frequency is information related to the frequency of the work, such as 8 hours a day or multiple times a year. The information on the work process is information indicating the work process such as the start-up of the robot, the operation of the robot, or the maintenance of the robot.

[0030] The hazard source database includes data related to the hazard sources included in the robot and data related to the hazard sources included in the device. Hereinafter, the data related to the hazard sources are referred to as hazard source data. The hazard sources include mechanical hazard sources, electrical hazard sources, thermal hazard sources, hazard sources caused by noise, hazard sources caused by vibration, radiation hazard sources, material or substance hazard sources, and ergonomic hazard sources.

[0031] Mechanical hazards are parts that move, such as robot arms or end effectors. Examples of the effects of mechanical hazards on the human body include crushing, impact, entrapment, or cutting. Electrical hazards are parts that may cause electric shock by contact, such as chargers or connectors. Thermal hazards are parts that become hot and may cause burns by contact, such as end effectors, equipment related to end effectors, or workpieces. Noise hazards are noise generators. Examples of the effects of noise hazards on the human body include hearing loss. Vibration hazards are parts that cause vibration. Examples of the effects of vibration hazards on the human body include nerve damage caused by contact. Radiation hazards are parts that emit various electromagnetic waves. Examples of the effects of radiation hazards on the human body include eye or skin diseases caused by exposure to radiation. Material or substance hazards are liquids or gases that are harmful to the human body, such as corrosive gases or corrosive dust. Examples of the effects of material or substance hazards on the human body include skin diseases caused by contact or inhalation diseases. Ergonomic hazards are hazards caused by ignoring ergonomic principles, such as forcing people to take unnatural postures or forcing people to exert excessive effort. Examples of the effects of ergonomic hazards on the human body include fatigue of overused parts of the human body.

[0032] Safety-related equipment data is data related to equipment used to reduce risks, namely safety-related equipment. Safety-related equipment includes safety fences, light curtains, interlock switches, etc. Safety-related equipment data includes CAD data of safety-related equipment, the main body mass of safety-related equipment, or data on safety functions of safety-related equipment, etc.

[0033] The robot arm data is stored by classification, for example, based on the manufacturer of the robot or the performance of the robot arm. The end effector data is stored by classification, for example, based on the manufacturer of the end effector, the type of the end effector, or the performance of the end effector. The peripheral object data related to the peripheral device is stored by classification, for example, based on the manufacturer of the peripheral device, the type of the peripheral device, or the performance of the peripheral device. The safety-related equipment data is stored by classification, for example, based on the manufacturer of the safety-related equipment, the type of the safety-related equipment, or the performance of the safety-related equipment.

[0034] The device information of the robot system is input to the device information input processing unit 10 by operating the input device 2 by the user. The user appropriately selects the data included in the device information from the robot arm data, the end effector data, the peripheral object data, and the action data by operating the input device 2. In addition, in the case where there is no desired data in the robot arm data, the end effector data, the peripheral object data, or the action data, the device information input processing unit 10 can download the new data included in the device information through the network or from a database outside the risk assessment supporting device 1A. Alternatively, the new data included in the device information can be input by manual input by the user.

[0035] The device information input processing unit 10 outputs the input device information to the layout information setting unit 11 and the robot control information setting unit 12. The layout information setting unit 11 sets the layout information reflecting the input device information. The layout information is information related to the layout of the robot system. The layout information includes information on the robot arm, information on the end effector, information on the surrounding objects, information on the position of the operator, and information on the range of motion of the operator. The layout information setting unit 11 outputs the set layout information to the optimization calculation unit 13.

[0036] The robot control information setting unit 12 sets the robot control information reflecting the input device information. The robot control information is information related to the control of the robot, and is information related to the action program used when executing the control of the robot. The robot control information setting unit 12 can set the robot control information by reflecting the information of the robot arm included in the device information to the action program. The robot control information setting unit 12 outputs the set robot control information to the optimization calculation unit 13. In addition, the device information input processing unit 10 causes the action data included in the input device information to be reflected in the working environment information.

[0037] The risk assessment support device 1A optimizes the position of each robot in the robot system, the position of each peripheral device in the robot system, and the motion of each robot in the robot system by optimizing the operation in the operation unit 13. Here, the motion of the robot refers to the teaching position or motion path. The risk assessment support device 1A achieves space saving of the robot system and high-speed cycle time of the robot system while ensuring safety through this optimization.

[0038] The optimization calculation unit 13 has an optimization processing unit 16 as a calculation unit, a risk assessment processing unit 17, and a risk reduction processing unit 18. The optimization processing unit 16 obtains the layout information from the layout information setting unit 11 and the robot control information from the robot control information setting unit 12. The optimization processing unit 16 is input with the layout information and the robot control information, and calculates the solution of the robot position, the position of the peripheral device, and the robot's action, that is, the optimal solution based on the evaluation function. That is, the optimization processing unit 16 performs optimization processing of the robot position, the position of the peripheral device, and the robot's action. The optimization calculation unit 13 outputs the calculated optimal solution to the risk assessment processing unit 17.

[0039] The risk assessment processing unit 17 extracts the risk of the robot system when the calculated optimal solution is applied to the robot system. The risk assessment processing unit 17 obtains the work environment information. In addition, the risk assessment processing unit 17 obtains the hazard source data from the hazard source database. The details of the risk extraction performed by the risk assessment processing unit 17 are described later. The risk assessment processing unit 17 outputs the information related to the extracted risk to the risk reduction processing unit 18.

[0040] The risk reduction processing unit 18 performs risk reduction processing to determine whether it is possible to achieve risk reduction by converging the risk extracted by the risk assessment processing unit 17 to an allowable range of risk. The risk reduction processing unit 18 obtains safety-related equipment data. Details of the risk reduction processing performed by the risk reduction processing unit 18 are described later. The risk reduction processing unit 18 outputs the optimal solution when the risk converges to the allowable range to the layout information setting unit 11 and the robot control information setting unit 12, respectively. The risk reduction processing unit 18 outputs the residual risk information to the residual risk information acquisition unit 14. The residual risk information is information related to the risk that remains in the robot system when the optimal solution when the risk converges to the allowable range is applied to the robot system.

[0041] The layout information setting unit 11 outputs the layout information of the robot system indicating the optimal solution obtained from the risk reduction processing unit 18 to the output processing unit 15. The robot control information setting unit 12 outputs the robot control information indicating the optimal solution obtained from the risk reduction processing unit 18 to the output processing unit 15. The residual risk information acquisition unit 14 acquires the residual risk information from the risk reduction processing unit 18 and outputs the residual risk information to the output processing unit 15.

[0042] The output processing unit 15 outputs the layout information obtained from the layout information setting unit 11 and the robot control information obtained from the robot control information setting unit 12 to the output device 3. That is, the output processing unit 15 outputs the layout information and robot control information representing the optimal solution when the risk of the robot system converges to the allowable range of risk. In addition, the output processing unit 15 outputs the residual risk information obtained from the residual risk information acquisition unit 14 to the output device 3. The output device 3 outputs the layout information, the robot control information, and the residual risk information.

[0043] Next, the operation of the risk assessment supporting device 1A will be described. Figure 2 This is a flowchart showing the operation procedure of the risk assessment support device 1A according to the first embodiment.

[0044] In step S1, the risk assessment supporting device 1A determines whether the device information of the robot system is input to the device information input processing unit 10. If the device information of the robot system is not input (step S1, No), the risk assessment supporting device 1A repeats step S1. If the device information of the robot system is input (step S1, Yes), the risk assessment supporting device 1A proceeds to step S2.

[0045] In step S2, the risk assessment support device 1A sets the layout information and the robot control information. The risk assessment support device 1A sets the layout information reflecting the device information input in step S1 through the layout information setting unit 11. The risk assessment support device 1A sets the robot control information reflecting the device information input in step S1 through the robot control information setting unit 12. The device information input processing unit 10 causes the action data included in the input device information to be reflected in the work environment information.

[0046] The optimization processing unit 16 acquires the layout information and robot control information set in step S2. In step S3, the optimization processing unit 16 calculates an optimal solution for the position of the robot, the position of the peripheral devices, and the operation of the robot.

[0047] The optimization processing unit 16 obtains x^, which is the optimal solution for the position of the robot, the positions of the peripheral devices, and the motion of the robot, by using the following equation (1).

[0048] [Formula 1]

[0049]

[0050] Here, the set A includes all the positions where each robot included in the robot system can be deployed, the positions where each peripheral device included in the robot system can be deployed, and the controllable actions of each robot included in the robot system. f(x) is an evaluation function.

[0051] The evaluation function f(x) is represented by, for example, the following formula (2).

[0052] f(x)=f1(x)+f2(x) · · · (2)

[0053] The first term f1(x) included in the evaluation function f(x) is a term indicating the cycle time of the robot system. The second term f2(x) included in the evaluation function f(x) is a term indicating the area of ​​the entire robot system including the robot and peripheral devices, that is, the equipment area. As described above, the evaluation function f(x) includes the term f1(x) indicating the operating rate of the robot system and the term f2(x) indicating the size of the area where the robot system is installed.

[0054] In addition, f2(x) may be a term that represents the volume of the space where the robot system is installed instead of the equipment area. That is, f2(x) may be a term that includes the lengths of the three-dimensional directions in the elements with respect to the area where the robot system is installed. In this case, f2(x) is a term that represents the size of the area where the robot system is installed. In addition, as a method of optimization processing, a method such as a loop method, a gradient method, or a genetic algorithm can be applied.

[0055] In step S4, the risk assessment processing unit 17 performs risk assessment processing. The risk assessment processing unit 17 calculates the risk when the calculated x^ is applied to the position of the robot, the position of the peripheral device, and the movement of the robot.

[0056] Here, the details of the risk assessment process performed by the risk assessment processing unit 17 will be described. Figure 3 This is a flowchart showing the procedure of the risk assessment process performed by the risk assessment processing unit 17 of the risk assessment supporting device 1A according to the first embodiment.

[0057] The risk assessment processing unit 17 acquires the work environment information and the hazard source data. In step S11, the risk assessment processing unit 17 identifies the hazard source and specifies the hazard area. The risk assessment processing unit 17 identifies the hazard source based on the work environment information and the hazard source data.

[0058] For example, the risk assessment processing unit 17 identifies elements with drive sources such as robot arms, end effectors, and conveyors as peripheral devices as dangerous sources. In addition, the risk assessment processing unit 17 determines whether the range of motion of the dangerous source overlaps with the range of motion of the operator. The risk assessment processing unit 17 determines the area where the range of motion of the dangerous source overlaps with the range of motion of the operator as a dangerous area. The risk assessment processing unit 17 determines whether the human body is likely to be sandwiched between dangerous sources based on the range of motion of the dangerous source. The risk assessment processing unit 17 determines whether the human body is likely to be sandwiched between the dangerous source and surrounding objects such as tables, walls, columns, or doors based on the range of motion of the dangerous source. The risk assessment processing unit 17 determines the area where the human body is likely to be sandwiched as a dangerous area. In addition, the method of identifying dangerous sources and determining dangerous areas described here is an example. Based on the working environment information and dangerous source data, the risk assessment processing unit 17 can identify dangerous sources and determine dangerous areas by any method.

[0059] Next, the risk assessment processing unit 17 performs risk estimation in step S12. The risk assessment processing unit 17 determines the possible dangerous phenomena by risk estimation with respect to the dangerous sources identified in step S11 and the dangerous areas determined in step S11. In addition, the risk assessment processing unit 17 determines the possible damage to the human body that may occur with the possible dangerous phenomena.

[0060] For example, when the operator's range of motion overlaps with the robot arm's range of motion, "collision with the robot arm" is cited as a dangerous phenomenon. When the distance between the operator's range of motion and the robot arm's range of motion is narrower than a specified interval, the operator may collide with the robot arm. In this case, "collision with the robot arm" is cited as a dangerous phenomenon. When the distance between the robot arm's range of motion and the surrounding objects is narrower than a specified interval, "entrapment between the robot arm and the surrounding objects" is cited as a dangerous phenomenon. When the dangerous phenomenon is "collision with the robot arm", "bruises or fractures" are cited as injuries. When the dangerous phenomenon is "entrapment between the robot arm and the surrounding objects", "serious injuries above fractures" are cited. The risk assessment processing unit 17 determines these dangerous phenomena and their injuries based on the hazard source data. The risk assessment processing unit 17 performs risk estimation, for example, by using factors such as the size of the injury, the frequency of exposure, and the possibility of avoiding the hazard.

[0061] The risk assessment processing unit 17 can apply any method as a risk estimation method. Examples of risk estimation methods include a risk graph method using a tree diagram, a risk matrix method using a table, a numerical scoring method that adds and multiplies values, or a hybrid tool method that combines these methods.

[0062] Here, an example of performing risk estimation by applying a risk graph method which is an example of a risk estimation method will be described. Figure 4 FIG. 1 is a diagram for explaining an example of risk estimation performed by the risk assessment processing unit 17 of the risk assessment support device 1A according to the first embodiment. Figure 4 , an example of a tree diagram used in the risk diagram method is shown.

[0063] Here, an example of performing risk estimation based on the size of the injury, the exposure frequency, and the possibility of avoidance is shown. In addition, the elements used in risk estimation are not limited to the elements described in Implementation Example 1, but are arbitrary elements. The size of the injury can be selected from one of the two types of "mild" and "severe". The exposure frequency can be selected from one of the three types of "low", "medium", and "high". The possibility of avoidance can be selected from one of the two types of "possible" and "incapable". By selecting the size of the injury, the exposure frequency, and the possibility of avoidance, as shown in FIG. Figure 4 As shown, it is determined whether the risk level corresponds to one of the risk levels "1" to "6". The risk level indicates the degree of harm. Risk level "1" is the lightest degree of harm among the six risk levels. Risk level "6" is the heaviest degree of harm among the six risk levels. The risk assessment processing unit 17 determines which of the risk levels "1" to "6" the risk level corresponds to, thereby performing risk estimation. Here, it is assumed that the degree of harm is represented by six levels from risk level "1" to risk level "6", but the number of risk levels is arbitrary.

[0064] Next, the risk assessment processing unit 17 performs risk evaluation in step S13. Here, the risk assessment processing unit 17 evaluates whether the result of the risk estimation in step S12, that is, the risk is an acceptable risk. The risk assessment processing unit 17 compares the result of the risk estimation, that is, the determination result of the risk level, with the threshold value, thereby evaluating the risk. For example, when the value representing the risk level is less than or equal to the threshold value, the risk assessment processing unit 17 evaluates that the risk is an acceptable risk. On the other hand, when the value representing the risk level is greater than the threshold value, the risk assessment processing unit 17 evaluates that the risk is an unacceptable risk. Step S13 is ended, and the risk assessment processing unit 17 ends the process through Figure 3 The risk assessment process is performed in the order shown.

[0065] exist Figure 2 In step S5 shown, the risk assessment processing unit 17 determines whether the extracted risk is an acceptable risk by the risk estimation in step S12. The risk assessment processing unit 17 determines whether the risk is an acceptable risk based on the result of the risk evaluation in step S13. When the risk is an acceptable risk (step S5, Yes), the risk assessment support device 1A advances the sequence to step S9. On the other hand, when the risk is an unacceptable risk (step S5, No), the risk assessment support device 1A advances the sequence to step S6. When the risk is an unacceptable risk, the risk assessment processing unit 17 instructs the risk reduction processing unit 18 to perform risk reduction processing related to the risk evaluated as an unacceptable risk.

[0066] In step S6, the risk reduction processing unit 18 determines whether the risk determined to be unacceptable in step S5 can be reduced. The risk reduction processing unit 18 obtains safety-related device data. The risk reduction processing unit 18 determines whether the risk can be reduced by using the safety-related device based on the safety-related device data.

[0067] Here, the details of the risk reduction processing performed by the risk reduction processing unit 18 will be described. Figure 5 This is a flowchart showing the procedure of the risk reduction process performed by the risk reduction processing unit 18 of the risk assessment supporting device 1A according to the first embodiment.

[0068] In step S21, the risk reduction processing unit 18 determines whether the risk can be reduced by safety protection and additional protection measures based on the safety-related equipment data. The risk reduction processing unit 18 determines whether the risk can be reduced by, for example, spatially separating the operator and the source of danger by a safety fence as a safety protection measure. The risk reduction processing unit 18 can determine whether the risk can be reduced by, for example, stopping or decelerating the source of danger when the operator enters a dangerous area by a light curtain as a protective device as a safety protection measure. The risk reduction processing unit 18 determines whether the risk can be reduced by, for example, stopping the source of danger by interlocking as an additional protection measure. When it is determined that the risk can be reduced (step S21, Yes), the risk reduction processing unit 18 advances the sequence to step S23. On the other hand, when it is determined that the risk cannot be reduced (step S21, No), the risk reduction processing unit 18 advances the sequence to step S22.

[0069] In step S22, the risk reduction processing unit 18 determines whether the risk can be reduced if the operator appropriately implements the countermeasures based on the information on use. If it is determined that the risk can be reduced (step S22, Yes), the risk reduction processing unit 18 advances the sequence to step S23. On the other hand, if it is determined that the risk cannot be reduced (step S22, No), the risk reduction processing unit 18 advances the sequence to step S24.

[0070] In step S23, the risk reduction processing unit 18 determines that the risk can be reduced. In step S24, the risk reduction processing unit 18 determines that the risk cannot be reduced. If step S23 or step S24 is terminated, the risk reduction processing unit 18 ends the process. Figure 5 The risk reduction processes are performed in the order shown.

[0071] Step S6 is a sequence for determining whether the risk can be reduced by the risk reduction processing performed in steps S21 to S24. When it is determined that the risk can be reduced (step S6, Yes), the risk reduction processing unit 18 instructs the risk assessment processing unit 17 to execute the risk assessment processing in the case of risk reduction. The risk assessment support device 1A advances the sequence to step S7. On the other hand, when it is determined that the risk cannot be reduced (step S6, No), the risk assessment support device 1A returns the sequence to step S3. The risk assessment support device 1A again executes the optimization processing performed by the optimization processing unit 16. The optimization processing unit 16 calculates a new optimal solution based on the set A' other than the optimal solution x^ that has been calculated.

[0072] In step S7, the risk assessment processing unit 17 performs risk assessment processing again. In step S8, the risk assessment processing unit 17 determines whether the extracted risk is an acceptable risk by risk estimation. When the risk is an acceptable risk (step S8, Yes), the risk assessment support device 1A causes the sequence to enter step S9. On the other hand, when the risk is an unacceptable risk (step S8, No), the risk assessment support device 1A causes the sequence to return to step S3. The risk assessment support device 1A performs the optimization processing performed by the optimization processing unit 16 again. The optimization processing unit 16 calculates a new optimal solution based on the set A' other than the optimal solution x^ that has been calculated.

[0073] The risk assessment support device 1A repeats the sequence of steps S3 to S8 until it is determined through step S5 or step S8 that the extracted risk is an allowable risk. The layout information setting unit 11 and the robot control information setting unit 12 each obtain the optimal solution when the risk converges to the allowable range from the risk reduction processing unit 18. The layout information setting unit 11 outputs the layout information indicating the optimal solution obtained from the risk reduction processing unit 18 to the output processing unit 15. The robot control information setting unit 12 outputs the robot control information indicating the optimal solution obtained from the risk reduction processing unit 18 to the output processing unit 15. The risk reduction processing unit 18 outputs the residual risk information to the residual risk information acquisition unit 14. The residual risk information acquisition unit 14 obtains the residual risk information from the risk reduction processing unit 18 and outputs the residual risk information to the output processing unit 15.

[0074] In step S9, the output processing unit 15 outputs the layout information, the robot control information, and the residual risk information to the output device 3. Figure 2 The actions are performed in the order shown.

[0075] According to the first embodiment, the risk assessment support device 1A calculates the solution of the position of the robot, the position of the peripheral device, and the action of the robot based on the evaluation function including the term indicating the size of the area where the robot system is set, and outputs the layout information and robot control information indicating the solution when the risk of the robot system converges to the allowable range. As described above, the risk assessment support device 1A has the effect of being able to perform risk assessment for achieving safety and space saving in the robot system. In addition, the evaluation function also includes a term indicating the operating rate of the robot system, so that the risk assessment support device 1A can implement risk assessment for achieving a high operating rate of the robot system.

[0076] Implementation method 2.

[0077] Figure 6 1B is a diagram showing a configuration example of a risk assessment support device 1B according to Embodiment 2. The risk assessment support device 1B has Figure 1 The risk assessment support device 1A shown has the same configuration and action recognition processing unit 19. In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and the configuration different from the first embodiment will be mainly described.

[0078] exist Figure 6, a risk assessment support device 1B, an input device 2, an output device 3, and a visual sensor 4 are shown. The visual sensor 4 captures images of the robot system and the operator. The visual sensor 4 may be any of a 2D sensor and a 3D sensor. The visual sensor 4 outputs the image imported by the capture to the risk assessment support device 1B. The image may be any of a still picture and a video.

[0079] The motion recognition processing unit 19 obtains the image imported by the visual sensor 4. The motion recognition processing unit 19 performs processing for recognizing the motion of the operator based on the image of the robot system and the operator. The motion recognition processing unit 19 recognizes the motion range of each robot in the robot system, the motion range of each peripheral device of the robot system, and the motion range of the operator based on the image.

[0080] In addition, the motion recognition processing unit 19 detects the body parts of the operator based on the image of the operator. The body parts are the head, torso, upper wrist, forearm, hand, thigh, lower leg and foot. The motion recognition processing unit 19 identifies the operator's work content based on the detected body parts. The identified work content includes content such as the range of motion, motion speed and assembly motion. The motion recognition processing unit 19 generates data related to the operator's motion based on the identified work content. The data generated by the motion recognition processing unit 19 is stored as work environment information in the storage unit within the risk assessment auxiliary device 1B. Figure 6 In FIG. 1 , each information stored in the storage unit is schematically represented.

[0081] In addition, the action recognition processing unit 19 recognizes the proficiency of the operation, i.e., the level, the operation frequency, and the operation process based on the recognized operation content. The operation frequency is the frequency of the operation, such as 8 hours a day or multiple times a year. The operation process is the operation process such as starting the robot, operating the robot, or maintaining the robot. Information indicating the level, information indicating the operation frequency, or information indicating the operation process is stored in the storage unit in the risk assessment support device 1B as the operation environment information.

[0082] The motion recognition processing unit 19 recognizes the possibility of danger such as the worker being caught in a trap based on the recognized work content and each robot, each peripheral device or surrounding object recognized from the image. Information on the recognized possibility of danger is stored in the danger source database.

[0083] According to Embodiment 2, the risk assessment supporting device 1B includes the motion recognition processing unit 19, and can acquire the work environment information through processing in the motion recognition processing unit 19. Thus, the risk assessment supporting device 1B can reduce the time required for the user to input data regarding the work environment information.

[0084] Implementation method 3.

[0085] Figure 7 1C is a diagram showing a configuration example of a risk assessment support device 1C according to Embodiment 3. The risk assessment support device 1C has Figure 6 The risk assessment assisting device 1B shown in the figure has the same structure. The storage unit of the risk assessment assisting device 1C also stores the weight data. In the third embodiment, the same reference numerals are given to the same structural elements as those in the first or second embodiment, and the structures different from the first or second embodiment are mainly described. Figure 7 In FIG. 1 , each information stored in the storage unit is schematically represented.

[0086] The risk assessment support device 1C is set with weight data indicating the weight of each of the first term and the second term in the evaluation function, that is, the term indicating the size of the region and the term indicating the operation rate.

[0087] In the third embodiment, the evaluation function f(x) is expressed by, for example, the following formula (3).

[0088] f(x)=w1f1(x)+w2f2(x) · · · (3)

[0089] w1 is a weight coefficient indicating the weight of the term indicating the operation rate. w2 is a weight coefficient indicating the weight of the term indicating the size of the area. The weight data are weight coefficients w1 and w2. The weight coefficients w1 and w2 satisfy the following formula (4).

[0090] w1+w2=1.0· · · (4)

[0091] The optimization processing unit 16 acquires the weight data. As shown in Formula (3), in the third embodiment, weighting based on the weight data is performed on each term of the evaluation function f(x).

[0092] According to Embodiment 3, the risk assessment assisting device 1C can arbitrarily set the balance between the space saving of the robot system and the high operating rate of the robot system through weight data. Thus, the risk assessment assisting device 1C can perform risk assessment assistance that meets the needs. In addition, in Embodiment 3, the risk assessment assisting device 1C has weight data added to the same structure as the risk assessment assisting device 1B of Embodiment 2, but the weight data can also be added to the same structure as the risk assessment assisting device 1A of Embodiment 1.

[0093] Implementation method 4.

[0094] Figure 81D is a diagram showing a configuration example of a risk assessment support device 1D according to Embodiment 4. The risk assessment support device 1D has Figure 7 The risk assessment assisting device 1C shown in the figure has the same structure. The constraint condition information is also stored in the storage unit of the risk assessment assisting device 1D. In the fourth embodiment, the same reference numerals are given to the same structural elements as those in the above-mentioned embodiments 1 to 3, and the structures different from those in the embodiments 1 to 3 are mainly described. Figure 8 In FIG. 1 , each information stored in the storage unit is schematically represented.

[0095] The constraint condition is a condition constraining at least one of the layout information and the robot control information. The constraint condition can be set arbitrarily by the user. The constraint condition information is information indicating the constraint condition. The optimization processing unit 16 obtains the constraint condition information. The optimization processing unit 16 calculates the optimal solution reflecting the constraint condition.

[0096] Constraints are conditions that restrict the position and posture of each robot in the robot system, the position and posture of each device in the robot system, or the movement of the robot. In addition, the constraints may include conditions on the relative positional relationship between the robot and surrounding objects, conditions related to the position of components such as walls, columns, or doors that exist in the space where the robot system is installed, conditions on the range of motion of the robot, or conditions related to the posture of the end effector when it is fixed.

[0097] According to Embodiment 4, the risk assessment support device 1D sets a constraint condition for constraining at least one of the layout information and the robot control information, thereby being able to perform risk assessment support that meets the requirements. In addition, in Embodiment 4, the risk assessment support device 1D has constraint condition information added to the same structure as the risk assessment support device 1C of Embodiment 3, but it may also have constraint condition information added to the same structure as the risk assessment support device 1A, 1B of Embodiment 1 or 2.

[0098] Next, a description will be given of hardware that realizes the risk assessment support devices 1A, 1B, 1C, and 1D according to Embodiments 1 to 4. The risk assessment support devices 1A, 1B, 1C, and 1D are realized by a processing circuit. The processing circuit is a circuit in which a processor executes software.

[0099] In the case where the processing circuit is implemented by software, the processing circuit is, for example, Fig. 9 The control circuit shown. Fig. 93 is a diagram showing a configuration example of a control circuit 30 according to Embodiments 1 to 4. The control circuit 30 includes an input unit 31, a processor 32, a memory 33, and an output unit 34. The input unit 31 is an interface circuit that receives data input from the outside of the control circuit 30 and gives the data to the processor 32. The output unit 34 is an interface circuit that sends data from the processor 32 or the memory 33 to the outside of the control circuit 30.

[0100] The processing circuit is Fig. 9 In the case of the control circuit 30 shown, the risk assessment assisting device 1A, 1B, 1C, 1D is implemented by software, firmware, or a combination of software and firmware. The software or firmware is described as a program and stored in a memory 33. In the processing circuit, the processor 32 reads out and executes the program stored in the memory 33, thereby realizing each function. That is, the processing circuit has a memory 33, which is used to store the program that finally executes the processing of the risk assessment assisting device 1A, 1B, 1C, 1D, that is, the risk assessment assisting program. In addition, the risk assessment assisting program can be said to make the computer execute the order and method of the risk assessment assisting device 1A, 1B, 1C, 1D.

[0101] The processor 32 is a CPU (Central Processing Unit), an arithmetic device, a processing device, a microprocessor, a microcomputer or a DSP (Digital Signal Processor). The memory 33 is a volatile or non-volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (registered trademark) (Electrically Erasable Programmable Read Only Memory).

[0102] Fig. 9This is an example of hardware in which each structural element of the risk assessment supporting device 1A, 1B, 1C, and 1D is implemented by a general-purpose processor 32 and a memory 33, but each structural element can also be implemented by a dedicated hardware circuit. The risk assessment supporting device 1A, 1B, 1C, and 1D may include an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). The risk assessment supporting device 1A, 1B, 1C, and 1D may be composed of more than or equal to 2 devices. The risk assessment supporting program can be stored in a recording medium such as a CD (Compact Disc)-ROM, a DVD-ROM, and a recording medium is provided to implement each embodiment.

[0103] The structures shown in the above embodiments illustrate an example of the content of the present invention. The structures of the embodiments can be combined with other known technologies. The structures of the embodiments can also be appropriately combined with each other. Part of the structure of the embodiments can be omitted or changed without departing from the scope of the gist of the present invention.

[0104] Description of the label

[0105] 1A, 1B, 1C, 1D risk assessment auxiliary device, 2 input device, 3 output device, 4 visual sensor, 10 equipment information input processing unit, 11 layout information setting unit, 12 robot control information setting unit, 13 optimization operation unit, 14 residual risk information acquisition unit, 15 output processing unit, 16 optimization processing unit, 17 risk assessment processing unit, 18 risk reduction processing unit, 19 action recognition processing unit, 30 control circuit, 31 input unit, 32 processor, 33 memory, 34 output unit.

Claims

1. A risk assessment auxiliary device, characterized in that: have: a calculation unit that receives as input layout information related to the layout of the robot and objects surrounding the robot, and robot control information related to the control of the robot, and calculates a solution for the position of the robot, the position of the device, and the motion of the robot based on an evaluation function including a term representing the size of an area in which a robot system including the robot and devices other than the robot is installed; as well as An output processing unit outputs the layout information and the robot control information indicating the solution when the risk of the robot system converges to an allowable range.

2. The risk assessment assisting device according to claim 1, characterized in that: The evaluation function further includes a term representing an operation rate of the robot system.

3. The risk assessment assisting device according to claim 2, characterized in that: weight data is set, the weight data indicating the weight of each of the item indicating the size of the area and the item indicating the operation rate, Each item of the evaluation function is implemented based on the weighting of the weight data.

4. The risk assessment assisting device according to any one of claims 1 to 3, characterized in that: Also features: a risk assessment processing unit, which extracts the risks; as well as The risk reduction processing unit determines whether risk reduction can be achieved by bringing the extracted risk within the allowable range.

5. The risk assessment assisting device according to claim 4, characterized in that: The risk assessment processing unit extracts the risk based on information related to workers working around the robot or information related to work performed by the workers, namely, work environment information, and data related to hazards included in the robot system, namely, hazard source data.

6. The risk assessment assisting device according to claim 5, characterized in that: The system further includes a motion recognition processing unit that performs processing for recognizing the motion of the operator based on images of the robot system and the operator. The action recognition processing unit reflects the result of recognizing the action of the operator on the work environment information and the hazard source data.

7. The risk assessment assisting device according to any one of claims 1 to 6, characterized in that: The device also includes a device information input processing unit, into which the device information of the robot system is input. The layout information reflecting the device information and the robot control information reflecting the device information are input to the calculation unit.

8. The risk assessment assisting device according to any one of claims 1 to 7, characterized in that: The output processing unit further outputs information related to the risk remaining in the robot system, that is, residual risk.

9. The risk assessment assisting device according to any one of claims 1 to 8, characterized in that: Setting a constraint condition, which constrains at least one of the layout information and the robot control information, The calculation unit calculates the solution of the position of the robot, the position of the device, and the motion of the robot reflecting the constraint condition.

10. A risk assessment auxiliary program, characterized in that: Instruct the computer to perform the following steps: inputting layout information related to the layout of the robot and the surrounding objects of the robot, and robot control information related to the control of the robot, and calculating a solution for the position of the robot, the position of the device, and the movement of the robot based on an evaluation function including a term representing the size of an area in which a robot system including the robot and devices other than the robot is set; as well as The layout information and the robot control information indicating the solution when the risk of the robot system converges to an allowable range are output.

11. A risk assessment auxiliary method, characterized in that: The following steps are included: inputting layout information related to the layout of the robot and the surrounding objects of the robot, and robot control information related to the control of the robot, and calculating a solution for the position of the robot, the position of the device, and the movement of the robot based on an evaluation function including a term representing the size of an area in which a robot system including the robot and devices other than the robot is set; as well as The layout information and the robot control information indicating the solution when the risk of the robot system converges to an allowable range are output.

Images