Method for providing collision hazard information by simulating motion of robot and apparatus for performing same

Abstract

The present invention relates to a method for providing collision risk information by simulating robot motion and an apparatus for performing the same, the method comprising the steps of: providing a script composed of a plurality of instructions corresponding to robot motion; calculating the risk degree of each motion in the robot motion; and a processing script that displays, in different colors, a first instruction corresponding to the motion of which the calculated degree of risk exceeds the reference value and a second instruction corresponding to the motion of which the degree of risk is lower than or equal to the reference value.

Description

Technical Field

[0001] This invention relates to a method for providing collision hazard information by simulating robot motion calculations to determine the danger of collisions with surrounding objects such as workers. Background Technology

[0002] A robot is a machine that can automatically process or perform specific tasks based on its own capabilities. The application areas of robots can be divided into industrial, service, medical, aerospace, and underwater applications, among others.

[0003] Industrial robots are used in the field of industrial automation. They are multifunctional robotic arms that can be automatically controlled and reprogrammed. They can be programmed on three or more axes and can be fixed or mobile. They can include hand-guided robots, robotic arms of mobile robots, and collaborative robots.

[0004] Meanwhile, an industrial robot system can be configured to include the aforementioned industrial robot, end device, and all machines, equipment, devices, additional axes, or sensors required for the robot to perform its tasks.

[0005] Industrial robot systems have long been deployed in the automotive manufacturing and other mechanical processing industries to perform repetitive tasks equivalent to those of human arms. Due to rising labor costs, the use of industrial robots has increased in recent years.

[0006] However, accidental contact between industrial robots and workers during operation can lead to death or serious injury. Therefore, safety requirements for industrial robot systems and their working environments have been established.

[0007] In addition, to ensure the safety of industrial robot systems and their working environment, it is necessary to simulate robot movement before actual use of industrial robots to identify and reduce the probability and danger of collisions with workers or surrounding objects. Summary of the Invention

[0008] Technical issues The technical problem to be solved by the present invention is to provide a method and an apparatus for providing collision hazard information by utilizing robot motion simulation, thereby effectively displaying the degree of danger during a collision by simulating robot motion.

[0009] Technical solution To address the problems described above, an embodiment of the present invention provides a method for providing collision hazard information by utilizing robot motion simulation, comprising the following steps: providing a script consisting of a plurality of instructions corresponding to the robot motion; calculating the hazard level of each motion in the robot motion; and processing the script to display, in different colors, a first instruction corresponding to a motion whose calculated hazard level exceeds a reference value and a second instruction corresponding to a motion whose hazard level is lower than or equal to the reference value.

[0010] The robot is capable of power and force limiting (PFL) coordinated operation, and the script can be displayed on a teaching pendant provided for the robot.

[0011] The script is displayed in a first area of ​​the screen of the teach pendant, and a virtual robot running according to the instructions contained in the script is displayed in a second area. At the time point when the first instruction corresponding to the movement with a calculated risk level exceeding the reference value is executed, the dangerous part can be identified in at least one of the script and the virtual robot.

[0012] The step of calculating the risk level may include the following steps: calculating the risk level of each motion by using the estimated force or pressure at the time of collision estimated by simulating the robot's motion and the preset force limit or pressure limit.

[0013] The processing and display steps may include the following steps: as the instructions contained in the script are executed sequentially, the executed instructions are displayed in one of a plurality of colors.

[0014] At least a portion of the method for providing collision hazard information by utilizing robot motion simulation can be implemented as a computer-readable recording medium that records a program executed on a computer, or can be provided as the program itself.

[0015] On the other hand, the method of providing collision hazard information by utilizing robot motion simulation can be performed by an apparatus according to an embodiment of the present invention.

[0016] The robot motion simulation device according to an embodiment of the present invention is a device for simulating robot motion capable of power and force limiting (PFL) cooperative operation to provide collision hazard information, comprising: a script providing module for providing a script consisting of a plurality of instructions corresponding to the robot motion; and a hazard calculation module for calculating the hazard of each motion in the robot motion, wherein the script providing module is further configured to: display the calculated hazard of each motion in the script, and display a first instruction corresponding to a motion whose calculated hazard exceeds a reference value and a second instruction corresponding to a motion whose hazard is lower than or equal to the reference value in different colors.

[0017] Beneficial effects According to an embodiment of the present invention, by calculating the coordinate and shape information of the checkpoints based on robot installation information, hazardous area information, and body part information that may collide in each hazardous area, which are set for the robot's operating space, as well as checkpoints set for the robot and tools to determine collision hazards, it is convenient to set collision information for simulating robot motion that can perform power and force limiting (PFL) cooperative operation.

[0018] Furthermore, according to another embodiment of the present invention, based on the collision information set in the above manner to simulate robot movement, it is possible to calculate and provide the degree of danger of each movement when the robot collides, thereby preventing death or serious injury caused by accidental contact between the robot and the staff during operation.

[0019] According to another embodiment of the present invention, the danger level of each movement is displayed in a script consisting of multiple instructions corresponding to robot movements. The instructions corresponding to movements with danger levels exceeding reference values ​​are identified by color, thereby enabling users to easily grasp the collision danger level of each movement during the teaching process or real-time monitoring of the robot's movement status in the process of power and force limiting (PFL) coordinated operation.

[0020] Furthermore, according to another embodiment of the present invention, for a command corresponding to a motion with a hazard level exceeding a reference value, the amount of change in motion attribute required to reduce the hazard level to below the reference value is calculated, and the amount of change in motion attribute and the information on the hazard level reduced to below the reference value are displayed in the script, thereby reducing the collision hazard level during power and force limiting (PFL) cooperative operation. Attached Figure Description

[0021] Figure 1 This is a perspective view showing the structure of a robot according to an embodiment of the present invention.

[0022] Figure 2 This is a table showing examples of allowed limits in Power and Force Limit (PFL) operating modes.

[0023] Figure 3 This is an example diagram showing a screen provided in a robot motion simulator.

[0024] Figure 4 This is a block diagram showing the structure of a robot motion simulation device according to an embodiment of the present invention.

[0025] Figure 5 This is a flowchart illustrating a collision information setting method for simulating robot motion according to an embodiment of the present invention.

[0026] Figures 6 to 15 This is a diagram illustrating an embodiment of a method for setting area information of a robot's operating space.

[0027] Figures 16 to 23 This is a diagram illustrating an embodiment of a method for setting tool information for determining collision hazards.

[0028] Figure 24 This is a block diagram showing the structure of a robot motion simulation device according to another embodiment of the present invention.

[0029] Figure 25 This is a flowchart illustrating a method for providing collision hazard information by utilizing robot motion simulation according to an embodiment of the present invention.

[0030] Figure 26 and Figure 27 This is a diagram illustrating an embodiment of the structure of a script representing robot motion.

[0031] Figures 28 to 36 This is a diagram illustrating an embodiment of a method for providing collision hazard information to a robot in a teach pendant.

[0032] Figure 37 This is a block diagram showing the structure of a robot motion simulation device according to another embodiment of the present invention.

[0033] Figure 38 This is a flowchart illustrating the use of robot motion simulation to provide collision risk reduction information according to an embodiment of the present invention.

[0034] Figures 39 to 42 This is a diagram illustrating an embodiment of a method for providing collision hazard reduction information for a robot in a teach pendant. Detailed Implementation

[0035] The following description is merely illustrative of the principles of the invention. Therefore, those skilled in the art will be able to implement the principles of the invention and invent various devices encompassed within the concept and scope of the invention, even if not explicitly described or illustrated herein. Furthermore, it should be understood that all terms and embodiments listed herein are intended in principle only to aid in understanding the concepts of the invention and are not intended to limit the specific embodiments and conditions listed.

[0036] Furthermore, all detailed descriptions of specific embodiments and the principles, aspects, and embodiments of the invention should be understood to include their structural and functional equivalents. Moreover, such equivalents should be understood not only as currently known equivalents but also as equivalents developed in the future, i.e., all devices invented to perform the same function, regardless of their structure.

[0037] Therefore, for example, the block diagrams herein should be understood as conceptual views of exemplary circuits embodying the principles of the invention. Similarly, all flowcharts, state transition diagrams, pseudocode, etc., whether or not explicitly depicting a computer or processor, should be understood as representing various processes performed by a computer or processor, provided they are substantially embodied in a computer-readable medium.

[0038] The functions of the various components depicted in the accompanying drawings, including functional blocks represented by processors or similar concepts, can be implemented using dedicated hardware and hardware capable of executing software in combination with corresponding software. When provided by a processor, these functions can be implemented by a single dedicated processor, a single shared processor, or multiple independent processors, some of which may be shared.

[0039] Furthermore, any explicit use of concepts such as processor, control, or similar should not be construed as referring only to hardware capable of executing software, but should be understood to implicitly include, but is not limited to, digital signal processor (DSP) hardware, read-only memory (ROM), random access memory (RAM), and non-volatile memory for storing software. Other commonly used hardware may also be included.

[0040] In the claims of this specification, components described as being used to perform the functions described in the detailed description are intended to cover, for example, combinations of circuit elements that perform the functions described herein, or any method of performing these functions, including any form of software (including firmware / microcode, etc.) and appropriate circuitry for performing said software to perform said functions. The invention as defined in these claims should be understood to be equivalent to any means capable of providing the functions described herein, as the functions provided by the various enumerated means are combined in accordance with the manner claimed in the claims.

[0041] The above-described objects, features, and advantages will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, thereby enabling those skilled in the art to readily implement the technical concepts of the invention. Furthermore, detailed descriptions of known techniques related to the invention will be omitted if they are deemed unnecessary to obscure the gist of the invention.

[0042] The following uses a collaborative robot as an example to illustrate an embodiment of the present invention. However, the present invention is not limited thereto and can be applied to industrial robots and various other types of robots.

[0043] A collaborative robot is a robot designed to interact directly with humans within a specific collaborative operating area. Collaborative operation refers to the intentionally designed working state of the robot system and the human operator within that collaborative operating area.

[0044] In addition, the collaborative workspace refers to the area within the safeguarded space where robots and personnel can work simultaneously during production operations. It can also refer to the area within the work area where robot systems (including workpieces) and personnel can work simultaneously during production operations.

[0045] Figure 1 The structure of a robot according to an embodiment of the present invention is shown. The robot 100 may include a base 110, a plurality of joints 120 to 128 and a tool flange 150.

[0046] refer to Figure 1 The base 110 is used to fix the robot 100, and a cable connection connector for connecting the robot 100 and the control box can be formed on the base 110.

[0047] Tool flange 150 is used to mount grippers or tools on robot 100. Input / output ports for controlling grippers or tools and buttons for direct teaching may be provided near tool flange 150.

[0048] Meanwhile, a base joint 20, a shoulder joint 122, an elbow joint 124, a first wrist joint 126, a second wrist joint 127, and a third wrist joint 128 are provided between the base 110 and the tool flange 150, thereby realizing the six-axis joint movement of the robot 100.

[0049] Having such Figure 1 The robot 100 with the structure shown has the ability to operate collaboratively, which may include one or more of the following functions: safe monitored stop, hand guiding, speed and position monitoring, and power and force limiting (PFL).

[0050] In the safety monitoring stop method, the safety monitoring stop function is used to stop the robot's movement before staff enter the collaborative operation area to interact with the robot system and complete the task.

[0051] If the worker is not within the collaborative operation area, robot 100 operates in a non-collaborative mode. When the robot system is within the collaborative operation area, the safety monitoring function is activated and the robot stops moving, the worker may enter the collaborative operation area. However, once the worker leaves the collaborative operation area, the robot system can resume movement without further intervention.

[0052] In the manual guidance method, workers use a hand-operated device to send motion commands to the robot system. Only after the robot 100 has completed safety monitoring and stopped can workers enter the collaborative operation area and perform manual guidance tasks.

[0053] This operation is accomplished by manually operating a guide located at or near the robot's end device. Robot systems designed for manual guidance must be equipped with additional features such as force output, virtual safety zones, or tracking technology.

[0054] In the speed and position monitoring method, the robot system and the worker can move simultaneously within the cooperative operating area, and the risk is reduced by maintaining a minimum safe distance between the worker and the robot.

[0055] In this scenario, when robot 100 is running, the distance between the robot system and the worker must not be less than a safe distance, and the robot system will stop moving when the distance decreases to less than the safe distance. Simultaneously, when the worker moves away from the robot system, the robot system can automatically resume operation while maintaining the minimum safe distance, and the safe distance can also decrease simultaneously when the robot system decelerates.

[0056] In the operating mode of the power and force limitation (PFL) method, intentional or unintentional physical contact may occur between the robot system (including the workpiece) and the operator. Cooperative operation of power and force limitation requires a robot system specifically designed for this particular operating mode.

[0057] In this case, the risk level can be reduced by using a robot or safety control system that includes basic safety measures to control the risk factors associated with the robot system below the permissible limits determined during the risk assessment process. The permissible limits can be set as the maximum permissible pressure and maximum permissible force that each part of the human body can withstand.

[0058] For example, the permissible limits in Power and Force Limiting (PFL) operating mode can be set to the maximum permissible pressure and maximum permissible force for each body part as defined in the international standard (ISO TS15066), such as... Figure 2 As shown. However, the present invention is not limited thereto and can be modified according to the level of hazard that needs to be managed.

[0059] Meanwhile, during collaborative operation using the aforementioned power and force limits (PFL), contact between the collaborative robot and the worker's body parts may occur in the form of intentional contact during the task, accidental contact due to failure to follow the task sequence, or contact triggered by a malfunction.

[0060] Furthermore, the possible contact between moving parts in a robot system and the human body can be divided into quasi-static contact and transient contact.

[0061] Quasi-static contact refers to contact between a moving part of a robot system and a fixed or moving part of another robot. It can also occur when a worker's body part is clamped, in which case the robot system may apply pressure and force to the clamped part for a considerable period of time until the situation is relieved.

[0062] On the other hand, dynamic contact refers to contact between a worker and a component of the robot system that occurs when the worker's body is retracted or away from the robot, rather than when a worker's body part is clamped onto a moving component of the robot system. The actual contact may be very brief, and its duration depends on the robot's inertia, the inertia of the body part, and the relative speed between the two.

[0063] As mentioned above, the risk of potential contact between robots and their staff can be reduced by ensuring that any possible contact between staff and the robotic system does not result in injury to the staff.

[0064] For example, the risk can be reduced by taking the following risk reduction measures: identifying the conditions under which contact occurs; assessing potential contact risks; designing robotic systems and work areas to reduce or avoid contact; and keeping contact events below a threshold.

[0065] When conducting a hazard assessment, it must be assumed that workers have not obtained protection against potential exposure through hazard reduction measures such as personal protective equipment. Factors that can be considered include: the body parts of the worker exposed, the initiation and probability or frequency of the exposure event, the type of exposure event, the contact area, velocity, force, pressure, momentum, mechanical work, energy, and other quantitative factors characterizing physical exposure events.

[0066] At the same time, passive methods related to the mechanical design of the robot system or active methods related to the control design of the robot system can be implemented to reduce the risk of the assessment.

[0067] For example, passive safety design measures may include increasing the contact area, absorbing energy, extending the energy transfer time, reducing impact force, and limiting the moving mass.

[0068] Specifically, rounded edges and corners, smooth or flexible surfaces can be used to increase the contact area, and fillers, cushioning materials, deformable parts, complex joints or connectors can be used to absorb energy, prolong energy transfer time or reduce impact force.

[0069] Active safety design measures include, but are not limited to: force and torque limits, speed limits for moving parts, momentum as a function of mass and velocity, mechanical work or energy limits, the use of safety-grade flexible shafts and space-limiting functions, the use of safety monitoring stop functions, and the use of detection technologies to predict or identify contact.

[0070] At the same time, if the combination of the above passive and active risk reduction methods is insufficient to adequately reduce the risk, other risk reduction methods may be required, including setting up barriers or safety devices.

[0071] As described above, the robotic system is designed to ensure that the worker is below the applicable threshold for quasi-static and dynamic contact as determined by the hazard assessment, so as to reduce the risk to below the threshold.

[0072] Robots capable of cooperative operation in Power and Force Limitation (PFL) mode can include functions that set acceptable thresholds for force, torque, speed, momentum, mechanical power, axis range, and spatial range.

[0073] For example, eliminating hazards associated with dynamic contact may include limiting the speed of movable parts (such as robots, tools, workpieces, etc.) and rationally designing physical characteristics, such as the surface area of ​​movable parts that come into contact with workers.

[0074] Furthermore, similar to dynamic contact, reducing the risk associated with quasi-static contact may include limiting speed and designing robotic systems to handle components that may grasp or press on workers or parts of their bodies.

[0075] The above has been referred to Figure 1 and Figure 2 The invention describes a robot 100 and a robot system according to an embodiment of the present invention. However, the invention is not limited thereto. The invention can be applied to various robots based on relevant international standards for robots and robot systems (ISO 10218-1, ISO 10218-2, ISO TS 15066, ISO 12100, ISO 13850, ISO 13855, IEC 60204-1).

[0076] According to the present invention, in order to ensure the safety of the robot system and the working environment, the robot's motion can be simulated to determine the probability or danger of collision with workers or surrounding objects.

[0077] For example, for a robot operating in a power and force limitation (PFL) mode, if robot-related information, tool-related information, collision checkpoint-related information, and robot motion-related information are input, the forces and pressures that are estimated when the robot collides during its movement can be calculated and displayed in the simulator.

[0078] Figure 3 This is an example diagram of the screen provided in the robot motion simulator. Using information about the robot's mounting area and the tools installed on the robot, it calculates and displays the estimated collision forces and pressures during robot movement, which are shown in icons on the left side of the screen. The corresponding robot movements are then displayed sequentially on the right side of the screen.

[0079] At the same time, based on the estimated collision force and pressure, the Pressure Force Index (PFI) is calculated to indicate the degree of danger of the robot's movement. The calculated danger level PFI will be displayed together with the chart on the left. If the PFI value exceeds the limit (e.g., 100), the danger assessment result and the corresponding movement of the robot will be displayed in the chart.

[0080] In addition, for robot movements where the risk factor FI value exceeds the limit, the robot's movement speed (e.g., maximum movement speed) is calculated and displayed to reduce the PFI value below the limit.

[0081] The simulators described above for simulating robot motion can be integrated into a robot or robot system and pre-store robot motion-related information; alternatively, they can be located outside the robot or robot system and receive robot motion-related information.

[0082] The aforementioned robot motion simulator can be implemented as software and / or hardware resources required to realize the technical concept of this invention, and does not necessarily represent a single physical component or a single device.

[0083] In other words, a robot motion simulator can represent a logical combination of software and / or hardware provided to realize the technical concept of the present invention. If necessary, the simulator can be implemented as a set of logical components installed in a separate device to perform their respective functions, thereby realizing the technical concept of the present invention.

[0084] Figure 4 This is a block diagram showing the structure of a robot motion simulation device according to an embodiment of the present invention. The robot motion simulation device 400 shown in the figure is a device for simulating robot motion that is capable of power and force limiting (PFL) cooperative operation.

[0085] refer to Figure 4 The robot motion simulation device 400 may include an information acquisition module 410, a detection point setting module 420, and an information calculation module 430.

[0086] The information acquisition module 410 acquires robot installation information, hazardous area information, and information on body parts that may collide in each hazardous area within the robot's operating space.

[0087] For example, the information acquisition module 410 can acquire an image of the robot's operating space, set the image scale, and set the robot's installation angle and installation position.

[0088] The system allows for the setting of one or more danger zones on the acquired images, and allows for the designation of body parts with a high probability of collision for each danger zone.

[0089] The detection point setting module 420 sets detection points for the robot to determine the risk of collision.

[0090] For example, the detection point setting module 420 can acquire an image of a tool installed on the robot and set the detection point on the acquired image.

[0091] The detection point setting module 420 uses information from multiple surrounding points of the detection point to calculate the similarity with multiple representative shapes, and determines the shape of the detection point as one of the multiple representative shapes based on the calculated similarity.

[0092] The information calculation module 430 calculates the coordinate information and shape information of the detection point based on at least a portion of the acquired information and the set detection point.

[0093] In this specification, "module" can refer to a functional and structural combination of hardware used to implement the technical concept of the present invention and software used to drive the hardware. For example, a module can refer to a given code and a logical unit of hardware resources used to execute the code, but does not necessarily refer to physically connected code or a single type of hardware.

[0094] According to an embodiment of the present invention, by calculating the coordinate and shape information of the detection points based on robot installation information, hazardous area information, and body part information that may collide in each hazardous area, which are set for the robot's operating space, and detection points set for the robot and tools to determine the collision hazard, it is convenient to set collision information for simulating robot motion that can perform power and force limiting (PFL) cooperative operation.

[0095] Figure 5 This is a flowchart illustrating a collision information setting method for simulating robot motion according to an embodiment of the present invention. The following will use [the method described in the original text] as an example. Figure 4 The robot motion simulation device 400 shown is used as an example for explanation.

[0096] The simulation device 400 acquires robot installation information, hazardous area information, and information on body parts that may collide in each hazardous area within the robot's operating space (step S500).

[0097] In step S500, an image of the robot's operating space can be acquired, the scale of the acquired image can be set, and at least one of the robot's installation angle and installation position can be set.

[0098] In addition, one or more danger zones can be defined on the acquired images, and for each defined danger zone, at least one corresponding body part can be defined, including the skull and forehead, face, neck, back and shoulder, chest, abdomen, pelvis, upper arms and elbow joints, lower arms and wrist joints, hands and fingers, thighs and knees, and lower legs.

[0099] refer to Figures 6 to 15 An embodiment of the method for setting the area information of the robot's operating space in step S500 is described in detail.

[0100] refer to Figure 6 You can input a two-dimensional image representing the robot's operating space, but the present invention is not limited to this; you can also input a three-dimensional image representing the robot's operating space.

[0101] refer to Figure 7 The robot's operating space 710 can be displayed on the screen of the simulation device 400, and user interfaces 720 to 728 are provided for setting area information of the operating space 710.

[0102] like Figure 8 As shown, the user can select the "Scaling line" button 720 on the screen of the simulation device 400, and then use the scaling bar 730 to set the actual size of the operating space 710 displayed on the screen.

[0103] Next, as Figure 9 As shown, the user can enter the robot's installation angle in the "Origin rotation angle" input box 721, and then... Figure 10 Select the "Robot origin" button 722 as shown, and use the cursor 732 to set the robot's installation position on the screen.

[0104] Then, as Figure 11 As shown, the user selects a body part that may collide with another body part in the "Collision par" selection window 723, and then... Figure 12Select the "Rectangle" button 724 and set the danger zone 734. The screen will display the danger zone 734 and the corresponding body parts (hands) that may collide within the danger zone 734.

[0105] And, as Figure 12 and Figure 13 As shown, users can use the above method to set danger zones 735 and 736, as well as the body parts that may be collided within each danger zone 735 and 736.

[0106] After setting the area information of the robot's operating space 400 as described above, the user can select... Figure 15 The "Save Area info" button 727 shown is used to save the set area information.

[0107] The simulation device 400 is used to set a check point for the robot to judge the collision risk (step S510). Based on at least a part of the information obtained in step S500 and the check point set in S510, the coordinate information and shape information of the check point are calculated (step S520).

[0108] In step S510, an image of the tool installed on the robot is acquired, and detection points can be set on the acquired image.

[0109] Alternatively, detection points for assessing collision hazards can be set on the robot itself, rather than on the tools. The detection point information on the robot itself may already be stored in the simulation device 400.

[0110] refer to Figures 16 to 23 The following will describe in more detail the method embodiments for setting detection points and calculating the coordinate and shape information of the detection points.

[0111] refer to Figure 16 The system can input a three-dimensional image representing a tool mounted on the robot. However, the invention is not limited to this; a two-dimensional image obtained by photographing the tool mounted on the robot can also be used.

[0112] refer to Figure 17 The tool 810 installed on the robot can be displayed on the screen of the simulation device 400, and user interfaces 812 to 815, 821 to 829 are provided for setting the detection points of the tool 810.

[0113] In step S520, the shape information of the detection point can be calculated using information from multiple surrounding points of the detection point.

[0114] For example, information from multiple surrounding points of a detection point can be used to calculate the similarity with multiple representative shapes, and the shape of the detection point can be determined as one of the multiple representative shapes based on the calculated similarity.

[0115] The representative shapes may include at least one of a half sphere, a corner, a cylinder, and a flat, but the invention is not limited thereto.

[0116] At the same time, using the shape information calculated as described above, the normal vector of the detection point can be calculated.

[0117] For example, when it is as Figure 18 When setting detection points using the tool shown in (a), the user can select the desired detection points on the 3D image, such as... Figure 18 As shown in (b).

[0118] In this case, points are set around the user-selected detection point, and information from multiple surrounding points (such as position and vector information) is used to fit multiple representative shapes, thereby calculating the similarity between the points and the representative shapes.

[0119] like Figure 18 As shown in (c), the shape with the highest similarity among multiple representative shapes is determined, and the information of the determined representative shape is stored as the shape information of the detection point.

[0120] The representative shape can be a half sphere. By using information from multiple surrounding points of the detection point, the radius of the half sphere with the highest similarity can be obtained, which serves as the shape information of the detection point.

[0121] like Figure 19 As shown, when a user selects a detection point 830 on the tool's 3D image displayed on the simulation device 400 screen, the detection point identification information is input into the detection point identification window 826, the position of the detection point is automatically input into the "Collision point xyz" display window 827, and the normal vector of the detection point is automatically input into the "Normal vector xyz" display window 828.

[0122] In addition, based on the shape information of the detection point obtained from the above calculation, the radius of the hemisphere similar to the detection point can be automatically input into the "Collision radius" display window 829.

[0123] like Figures 20 to 22As shown, users can also set multiple detection points 831, 832, and 833 using the above method. Each additional setting can automatically calculate and input the position, normal vector, and shape information (radius) of each detection point.

[0124] According to another embodiment of the present invention, when using a device such as a tablet computer to photograph an actual tool, the detection point can be selected directly from the tool image displayed on the screen.

[0125] refer to Figure 23 The image 910 of the shooting tool is displayed on the screen 900 of the tablet computer. When the user presses the "Add" button 920 and touches the desired detection point 911, the position information 925 of the touched detection point 911 will be displayed on the screen.

[0126] In addition, such as Figure 23 As shown, the normal vector and shape information of the detection point 911 can also be calculated and displayed on the screen 900 of the tablet computer.

[0127] As described above, a collision information setting method for simulating robot motion according to an embodiment of the present invention has been explained, which is executed by a robot motion simulation device. However, the present invention is not limited thereto. The method can be executed on a device such as a personal computer (PC), a laptop computer, or a tablet computer, or on a teach pendant provided in a robot system, or on a control station for controlling the robot or on the robot itself.

[0128] Furthermore, according to another embodiment of the present invention, by simulating robot motion based on collision information set in the manner described above, it is possible to calculate and provide the degree of danger of each movement when the robot collides, thereby preventing death or serious injury caused by accidental contact between the robot and the staff during operation.

[0129] Figure 24 This is a block diagram showing the structure of a robot motion simulation device according to another embodiment of the present invention. The robot motion simulation device 1000 shown in the figure is a device that provides collision hazard information by simulating the motion of a robot capable of power and force limiting (PFL) cooperative operation.

[0130] refer to Figure 24 The robot motion simulation device 1000 may include a script providing module 1010 and a hazard calculation module 1020. (The rest of the text is omitted as it is incomplete.) Figures 1 to 23 Description of the structure and motion of the same robot motion simulation device 1000 described herein.

[0131] The script provider module 1010 provides a script consisting of multiple instructions corresponding to robot movements.

[0132] For example, a script can be displayed in the first area of ​​the screen of the robot motion simulation device 1000, while a virtual robot that runs according to the instructions contained in the script can be displayed in the second area.

[0133] At the same time, the hazard calculation module 1020 calculates the hazard level of each robot movement as defined in the script.

[0134] For example, the hazard calculation module 1020 can use the estimated force or pressure at the time of collision estimated by the simulated robot motion, as well as the preset force limit or pressure limit, to calculate the hazard of each motion.

[0135] More specifically, the risk level of each robot movement can be calculated by the larger of the estimated force divided by the force limit and the estimated pressure divided by the pressure limit.

[0136] Furthermore, the script providing module 1010 can display the hazard level of each movement calculated by the hazard calculation module 1020 in the script, and display the first instruction corresponding to the movement whose calculated hazard level exceeds the reference value and the second instruction corresponding to the movement whose hazard level is lower than or equal to the reference value in different colors.

[0137] Furthermore, the script providing module 1010 can execute the instructions contained in the script sequentially, and display the executed instructions in one of a plurality of colors.

[0138] The following will refer to Figures 25 to 36 The embodiments of the present invention that provide collision hazard information by utilizing robot motion simulation will be described in more detail.

[0139] Figure 25 This is a flowchart illustrating a method for providing collision hazard information by utilizing robot motion simulation according to an embodiment of the present invention.

[0140] refer to Figure 25 The robot motion simulation device 1000 provides a script consisting of multiple instructions corresponding to robot motion (step S2100).

[0141] Scripts are used to define the robot's movement, including instructions related to robot movement, other functions, and settings. During teaching, users can create, edit, and modify these scripts to program the robot to function as expected.

[0142] For example, such as Figure 26As shown, icons related to robot movement, other functions, and settings, as well as scripts containing multiple instructions, can be displayed in the left area of ​​the screen of the robot motion simulation device 1000.

[0143] The right side of the screen of the robot motion simulation device 1000 displays a virtual robot running according to the instructions contained in the script, and also displays the angles and positions of the robot's joints.

[0144] at the same time, Figure 26 The screen shown can be provided for the teaching process of creating scripts, the process of simulating robot movement based on the created scripts, the process of the robot actually running based on the created scripts, and the process of setting various parameters in the created scripts.

[0145] like Figure 27 As shown, the icons used to set the robot's movement may include: a "Move" icon for setting the robot's movement mode, a "Point" icon for setting the movement target value, a "Circle" icon for setting circular motion, a "Wait" icon for waiting for a specified condition or time, and an "If" icon for setting branches so that the robot can execute different instructions according to the conditions, etc.

[0146] pass Figure 26 and Figure 27 The structure provided by the screen of the robot motion simulation device 1000 described herein is an embodiment of the present invention, but the present invention is not limited thereto.

[0147] The robot motion simulation device 1000 calculates the risk level of each robot motion defined in the script (step S2110).

[0148] For example, when based on the reference Figures 4 to 23 The collision information setting method sets area information and detection point information in the robot's operating space, and calculates the position, normal vector and shape information of the detection points. Based on the set and calculated information, the collision risk of each movement can be calculated.

[0149] The collision risk of each motion can be calculated using the Pressure Force Index (PFI), as shown in Formula 1 below.

[0150]

Mathematical Formula 1

[0151] In mathematical formula 1, "f_est" represents the force value generated during the collision as estimated through robot motion simulation, and its calculation method is shown in mathematical formula 2 below.

[0152]

Mathematical Formula 2

[0153] In mathematical formula 2, v rel Let μ represent the relative velocity between the robot and the human, μ represent the total mass of the robot and the human, and k represent the total stiffness of the robot and the human.

[0154] In Equation 1, "p_est" represents the pressure value generated during the collision as estimated by the robot's motion simulation, and its calculation method is shown in Equation 3 below.

[0155]

Mathematical Expression 3

[0156] In mathematical formula 1, "f_max" represents the force limit value for each part of the human body, and "p_max" represents the pressure limit value for each part of the human body. Although these values ​​can be expressed as follows: Figure 2 As shown, but the present invention is not limited thereto, and can also be set to the values ​​required by the standard.

[0157] As described above, if the PFI value, which represents the degree of collision hazard, is calculated and exceeds 100, the collision force or pressure predicted by the simulation device 400 may exceed the limit range. This can be judged as a dangerous situation where the detection point collides with a person during the robot's corresponding movement, which may be sufficient to cause serious personal injury.

[0158] On the other hand, for sports with a PFI value exceeding 100 as described above, a hazard reduction method can also be provided to reduce the PFI value to below 100.

[0159] Next, the robot motion simulation device 1000 processes the script provided in step S2100 to display, in different colors, a first instruction corresponding to a motion whose danger level exceeds the reference value calculated in step S2110 and a second instruction corresponding to a motion whose danger level is lower than or equal to the reference value (step S2120).

[0160] The following will be referenced Figures 28 to 36 This describes an embodiment of the method for providing the aforementioned robot collision hazard information via a teach pendant.

[0161] refer to Figure 28 The script 2210 that defines the robot's movements is displayed on the screen 2200 of the teach pendant. The script 2210 may include multiple instructions 2211 to 2214 corresponding to various movements of the robot.

[0162] For example, the first instruction 2211 may correspond to the movement of linearly moving the robot to a specified first position, and the second instruction 2212 may correspond to the movement of linearly moving the robot to a specified second position.

[0163] When executing as follows Figure 28 When the script 2210 is shown, the instructions contained in the script 2210 can be executed sequentially.

[0164] refer to Figure 29 On the screen 2200 of the teach pendant, the instruction corresponding to the currently executed movement can be displayed as a color block (2221) of a first color (e.g., yellow).

[0165] The collision risk factor (PFI) of the currently executing motion is calculated, and the color of the command corresponding to the currently executing motion can be changed according to the calculated risk factor (PFI).

[0166] For example, if the calculated risk factor (PFI) of the motion corresponding to the first instruction 2211 exceeds the reference value of 100, the color of the box 2221 of the first instruction 2211 can be changed to a second color (e.g., red). Figure 30 As shown.

[0167] If the calculated risk factor (PFI) of the motion corresponding to the next instruction 2212 to be executed is less than or equal to the reference value of 100, then the color of the box 2222 of the second instruction 2212 can be changed to a third color (e.g., green), such as Figure 31 As shown.

[0168] If the calculated risk factor (PFI) for the motion corresponding to the third instruction 2213 exceeds the reference value of 100, the color of the box 2223 of the third instruction 2213 can be changed to a second color (e.g., red). Figure 32 As shown.

[0169] If the calculated risk factor (PFI) of the motion corresponding to the next fourth instruction 2214 is less than or equal to the reference value of 100, the color of the box 2224 of the fourth instruction 2214 can be changed to a third color (e.g., green). Figure 33 As shown.

[0170] Furthermore, the calculated risk level for each movement can be displayed in the script 2210 shown on the screen 2200 of the teach pendant.

[0171] refer to Figure 34For each motion instruction contained in script 2210, the collision risk factor (PFI) calculated for the motion corresponding to the corresponding instruction can be displayed. For motions with a collision risk factor (PFI) exceeding a reference value of 100, the hazardous parts corresponding to the checkpoints where collisions may occur (e.g., specific parts of tools mounted on the robot) and the reasons that cause the risk factor to exceed the reference value (e.g., excessive collision force F or excessive collision pressure P) can be displayed.

[0172] like Figure 35 As shown, the first area on the left side of the teach pendant screen 2200 can display the script 2210, and the second area on the right side can display the virtual robot 2250 that runs according to the instructions contained in the script 2210.

[0173] In this case, when the first instruction corresponding to the movement with a calculated danger level exceeding the reference value of 100 is executed, the dangerous part 2251 can be displayed and identified in the virtual robot 2250.

[0174] Meanwhile, the robot will actually operate according to the instructions contained in script 2210. In this case, when executing the instruction corresponding to a movement with a calculated danger level exceeding the reference value of 100, the actual robot may stop moving to prevent personal injury caused by collision with the robot during teaching or simulation.

[0175] refer to Figure 36 When an instruction corresponding to a movement with a danger level exceeding the reference value of 100 is executed, the robot will be controlled to stop moving and will not perform the corresponding movement. A notification window 2260 may be displayed on the screen 2200 to indicate that the robot has stopped running.

[0176] In this situation, the user can select the "Ignore" button 2261 to stop the robot from stopping and resume operation. The user can also select the "Change parameter" button 2262 to change and set motion-related parameters (e.g., motion speed) to reduce the risk factor (PFI) of the corresponding motion to below the reference value of 100.

[0177] As described above, a method for providing collision hazard information by utilizing robot motion simulation according to an embodiment of the present invention has been explained, which is performed by a teach pendant (i.e., a teach pendant) in a robot system. However, the present invention is not limited thereto. The method can be performed on a device such as a personal computer (PC), a laptop computer, a tablet computer, or on a control station used to control the robot or on the robot itself.

[0178] According to another embodiment of the present invention, for a command corresponding to a motion with a hazard level exceeding a reference value, the amount of change in motion attribute required to reduce the hazard level to below the reference value is calculated, and the amount of change in motion attribute and information on the hazard level reduced to below the reference value are displayed in the script, thereby reducing the collision hazard level during power and force limiting (PFL) cooperative operation.

[0179] Figure 37 This is a block diagram showing the structure of a robot motion simulation device according to another embodiment of the present invention. The robot motion simulation device 3000 shown in the figure is a device that provides collision hazard reduction information by simulating the motion of a robot capable of power and force limiting (PFL) cooperative operation.

[0180] refer to Figure 37 The robot motion simulation device 3000 may include a script providing module 3010, a hazard calculation module 3020, a change calculation module 3030, and an attribute setting module 303. (The remaining text is omitted.) Figures 1 to 36 Description of the structure and motion of the same robot motion simulation device 3000 described herein.

[0181] The script provider module 1010 provides a script consisting of multiple instructions corresponding to robot movements.

[0182] The method by which the script providing module 1010 provides scripts may be similar to... Figures 24 to 36 The method described in the previous section is the same, so it will not be repeated here.

[0183] The hazard calculation module 1020 calculates the hazard level of each movement in the robot's motion as defined in the script.

[0184] The method by which the risk calculation module 1020 calculates the risk of each movement may be similar to... Figures 24 to 36 The method described in the previous section is the same, so it will not be repeated here.

[0185] Meanwhile, the change calculation module 3030 calculates the change in motion attribute required to reduce the risk level below the reference value for the first motion for which the risk level calculated by the risk level calculation module 1020 exceeds the reference value.

[0186] For example, the change calculation module 3030 can calculate, for the first motion, the rate or value of reduction of the motion speed required to reduce the danger level below the reference value.

[0187] The script providing module 3010 displays information in the provided script about the change in motion attribute calculated by the change calculation module 3030 for the instruction corresponding to the first motion, or the degree of danger of the motion attribute being reduced to below the reference value.

[0188] Furthermore, the attribute setting module 303 can change the motion attribute so that the change in motion attribute calculated by the change calculation module 3030 (e.g., the rate or value of decrease in motion speed) is applied to the first motion.

[0189] The following will be referenced Figures 38 to 42 The embodiments of the method for providing collision hazard reduction information using robot motion simulation according to the present invention will be described in more detail.

[0190] Figure 38 This is a flowchart illustrating the provision of collision hazard reduction information using robot motion simulation according to an embodiment of the present invention. In the method described in the figure, [details omitted]. Figures 1 to 37 The same description applies to the method described above.

[0191] refer to Figure 38 The robot motion simulation device 3000 provides a script consisting of multiple instructions corresponding to robot motion (step S3100).

[0192] The robot motion simulation device 3000 calculates the risk level of each motion using each motion attribute of the robot motion (step S3110).

[0193] For example, the motion attribute used to calculate the danger of each motion could be the robot's motion speed, while the relative speed (v) between the robot and the human in Equation 2... rel It can be determined based on the speed of movement.

[0194] In other words, in equation 2, if the robot's speed increases, the relative speed (v) between the robot and the human increases. rel The forecast force (F) also increases, thus leading to an increase in the forecast force. est The relative velocity (v) between the robot and the human increases. If the speed of movement decreases, the relative velocity (v) between the robot and the human increases. rel The predicted force (F) also decreases, thus leading to a decrease in the predicted force (F). est () decrease.

[0195] Subsequently, the robot motion simulation device 3000 calculates the amount of motion attribute change required to reduce the risk level below the reference value for the first motion in step S3110, where the risk level exceeds the reference value (step S3120).

[0196] For example, in step S3120, the rate or value of reduction of the movement speed required to reduce the risk factor (PFI) of the first movement to below the reference value of 100 can be calculated.

[0197] As mentioned above, if the speed of the first motion is reduced, the relative speed (v) between the robot and the human will decrease. rel This will decrease, thereby reducing predictability (F). estThis reduces the risk of the first movement (PFI).

[0198] Therefore, by calculating the movement speed to ensure that the set value of the first movement risk factor (PFI) is less than or equal to the reference value of 100, the reduction rate or reduction value of the movement speed required to reduce the risk factor of the first movement can be calculated.

[0199] Next, the robot motion simulation device 3000 processes the data to calculate the change in running attributes or the risk information that has decreased below the reference value for the instruction corresponding to the first motion in the provided script display step S3120 (step S3130).

[0200] For example, in step S3130, the script can display the rate or value of decrease in the motion speed calculated in step S3120, corresponding to the instruction corresponding to the first motion.

[0201] The following will be referenced Figures 39 to 42 This describes an embodiment of a method for providing collision hazard reduction information for the robot from a teach pendant.

[0202] refer to Figure 39 The script contains instructions in which the first and third instructions, where the risk factor (PFI) exceeds the reference value of 100, are displayed in a second color (e.g., red). It can also display the risk factor (PFI) value calculated for the corresponding movement corresponding to the first and third instructions, and the rate of reduction of the movement speed required to reduce the risk factor (PFI) to below 100.

[0203] At the same time, if user input is received to apply the reduction rate or reduction value of the recommended movement speed for reducing the risk to the first movement, the movement attribute of the first movement will be changed to apply the corresponding value to the lower movement.

[0204] refer to Figure 40 If the user selects the "Ignore" button 2271 displayed on the teach pendant screen 2200, the reduction rate of the recommended movement speed to reduce the risk will not be applied to the corresponding movement.

[0205] At the same time, if the user selects the "Change All Speed" button 2272 displayed on the screen 2200 of the teach pendant, the reduction rate of the recommended movement speed to reduce the risk will be applied to the corresponding movement.

[0206] In this case, such as Figure 41As shown, the risk factor (PFI) of the motions corresponding to the first and third commands will be reduced to a reference value of 100, and the display color of the first and third commands can be changed to a third color (e.g., green).

[0207] Among them, such as Figure 40 As shown, "Apply" buttons 2275 and 2276 are provided next to the first and third instructions to apply the reduction rate of the recommended movement speed to reduce the risk.

[0208] As described above, the process can be configured such that the reduction rate or reduction value of the recommended movement speed for reducing the risk can be automatically applied to the first movement. For this purpose, the script 2210 can include an instruction to automatically apply the reduction rate or reduction value of the movement speed to the first movement.

[0209] refer to Figure 42 When the script 2210 displayed on the screen 2200 of the teach pendant contains instructions 2281 and 2282 for automatically applying a reduction rate of motion speed, the reduction rate of motion speed for reducing the risk factor (PFI) of the motion corresponding to the first instruction and the third instruction to below the reference value 100 is automatically applied, and the display color of the first instruction and the third instruction can be displayed as the third color (e.g., green).

[0210] On the other hand, Figures 38 to 42 The example described uses a hazard level setting of 99.8 that is lower than or equal to the reference value. However, the present invention is not limited to this, and the setting value that reduces the hazard level to below the reference value can be changed as needed.

[0211] As described above, a method for simulating robot motion to reduce collision risk according to an embodiment of the present invention has been explained, which is performed by a teach pendant (i.e., a teach pendant) in a robot system. However, the present invention is not limited thereto. The method can be performed on a device such as a personal computer (PC), a laptop computer, a tablet computer, or on a control station for controlling the robot or on the robot itself.

[0212] The method described above in this invention can be a program executable on a computer and stored on a computer-readable recording medium, examples of which include ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage devices.

[0213] Computer-readable recording media can be distributed across networked computer systems, thereby allowing computer-readable code to be stored and executed in a distributed manner. Furthermore, those skilled in the art can readily deduce the functions, code, and code segments used to implement the methods described above.

[0214] While the present invention has been described and illustrated above with reference to preferred embodiments, it should be understood that the present invention is not limited to the specific embodiments described above. Those skilled in the art can make various modifications and implementations to the present invention without departing from the scope of the invention as defined by the claims. Such modifications and implementations should not be construed as departing from the technical spirit or scope of the present invention.

Claims

1. A method for providing collision hazard information using robot motion simulation, characterized in that, Includes the following steps: Provide a script consisting of multiple instructions corresponding to the robot's movements; Calculate the risk level of each movement in the robot's motion; and The process is performed to display, in the provided script, a first instruction corresponding to a movement whose calculated danger level exceeds a reference value and a second instruction corresponding to a movement whose danger level is lower than or equal to the reference value, using different colors.

2. The method for providing collision hazard information using robot motion simulation according to claim 1, characterized in that, The robot is capable of coordinated operation with power and force constraints.

3. The method for providing collision hazard information using robot motion simulation according to claim 1, characterized in that, It also includes the following steps: The calculated risk level for each movement is displayed on the script.

4. The method for providing collision hazard information using robot motion simulation according to claim 1, characterized in that, The script is displayed on the teach pendant provided for the robot.

5. The method for providing collision hazard information using robot motion simulation according to claim 4, characterized in that, The script is displayed in a first area of ​​the screen of the teach pendant, and a virtual robot that runs according to the instructions contained in the script is displayed in a second area.

6. The method for providing collision hazard information using robot motion simulation according to claim 5, characterized in that, At the time point when the first instruction is executed, corresponding to a movement whose calculated risk level exceeds the reference value, at least one of the script and the virtual robot identifies a dangerous area.

7. The method for providing collision hazard information using robot motion simulation according to claim 1, characterized in that, The steps for calculating the risk level include the following: The risk level of each movement is calculated using the estimated force or pressure at the time of collision predicted by simulating the robot's movements, as well as preset force or pressure limits.

8. The method for providing collision hazard information using robot motion simulation according to claim 7, characterized in that, The risk level of each movement is calculated using the larger of the estimated force divided by the force limit and the estimated pressure divided by the pressure limit.

9. The method for providing collision hazard information using robot motion simulation according to claim 1, characterized in that, The processing and display steps include the following steps: As the instructions contained in the script are executed sequentially, the executed instructions are displayed in one of a plurality of colors.

10. The method for providing collision hazard information using robot motion simulation according to claim 9, characterized in that, Among the instructions contained in the script, those corresponding to the currently executing motion are displayed in a first color. Among the instructions included in the script, the first instruction corresponding to the movement for which the calculated risk level exceeds the reference value is displayed in a second color. The second instruction is displayed in a second color corresponding to a movement for which the calculated danger level is lower than or equal to the reference value.

11. The method for providing collision hazard information using robot motion simulation according to claim 1, characterized in that, It also includes the following steps: The robot operates according to the instructions contained in the script. The robot stops moving at the time point when it executes the first instruction corresponding to a movement whose calculated danger level exceeds the reference value.

12. A computer program stored in a computer-readable recording medium for performing the method of any one of claims 1 to 11 in conjunction with hardware.

13. An apparatus for performing the method according to any one of claims 1 to 11.

14. A robot motion simulation device, the device being used to simulate the motion of a robot capable of power- and force-limited cooperative operation to provide collision hazard information, characterized in that, include: The script providing module provides a script consisting of multiple instructions corresponding to the robot's movements; as well as The hazard calculation module calculates the hazard level of each movement in the robot's motion. The script providing module is also configured to: The script displays the calculated risk level of each movement, and uses different colors to display the first instruction corresponding to the movement whose calculated risk level exceeds the reference value and the second instruction corresponding to the movement whose risk level is lower than or equal to the reference value.

15. The robot motion simulation device according to claim 14, characterized in that, The script is displayed in the first area of ​​the screen, and the virtual robot that runs according to the instructions contained in the script is displayed in the second area. At the time point when the first instruction is executed, corresponding to a movement whose calculated risk level exceeds the reference value, at least one of the script and the virtual robot identifies a dangerous area.

16. The robot motion simulation device according to claim 14, characterized in that, The risk level of each movement is: The force or pressure estimated during a collision, calculated using simulated robot motion and preset force or pressure limits, is obtained. It is calculated using the larger of the estimated force divided by the force limit and the estimated pressure divided by the pressure limit.

17. The robot motion simulation device according to claim 14, characterized in that, The script providing module is also configured to: As the instructions contained in the script are executed sequentially, the executed instructions are displayed in one of a plurality of colors.

Images