Method for operating collaborative robot and collaborative robot for carrying out the same

Abstract

To provide a collaborative robot which improves interaction between a person and a machine, in particular with regard to interaction with the person that is initiated by the machine.SOLUTION: A collaborative robot (1) monitors a spatial region (16) by means of a camera (14). The collaborative robot (1) projects information into a projection region (15), which is at least a partial region of a spatial region (16) monitored by the camera (14), by means of a projector (13) which has a fixed geometric relationship with the camera (14). Therein, the camera (14) and the projector (13) are arranged so as to have a fixed geometric relationship with one another in or on a component.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to collaborative robots and their operation. [Background technology]

[0002] The use of robots has brought about significant productivity gains in many areas of manufacturing. Besides processes that can be performed fully automatically by robots, there are still many tasks involving direct physical interaction, where humans and robots must work together. To enable such interactions while at the same time minimizing the risk of human injury, collaborative robots are usually used that are equipped with a sensor system that switches off the robot, or at least stops its movement, if a risk of human endangerment is recognized. For example, a collaborative robot can automatically switch off if an unexpected contact occurs or if a human is detected in the monitored space. Summary of the Invention [Problem to be solved by the invention]

[0003] Naturally, efforts are being made to increase the efficiency of human-machine collaboration, in particular to avoid the need for such switching off as far as possible. A crucial contribution to this is the possibility of interaction between human and machine, but ideally also between machine and human, whereby the human can preemptively react to an impending action by the collaborative robot or initiate an action of his own. However, so far, the interaction between machine and human is only rudimentary and not very concrete, for example by acoustic signals, which are often drowned out in noisy working environments or when hearing protection is mandatory, and are not perceptible to deaf or hearing impaired people, so that with known collaborative robots these people may not be able to complete their work. The use of warning lights is also known, but these require at least a temporary diversion of attention from the actual working process to the robot, and moreover can only provide relatively abstract information about what the robot is currently doing.

[0004] It is therefore an object of the present invention to provide a method for operating a collaborative robot, which improves the interaction between humans and machines, in particular with regard to the machine's interaction with the human, and a collaborative robot for carrying out this method. [Means for solving the problem]

[0005] The above problem is solved by a method having the features of claim 1 and by a collaborative robot having the features of claim 10. Advantageous developments of the invention are the subject of the respective dependent claims.

[0006] In the method according to the invention for operating a collaborative robot, the collaborative robot monitors a spatial region by means of a camera and projects information by means of a projector in a fixed geometric relationship with the camera onto a projection region which is at least a partial region of the spatial region monitored by the camera, where it may be particularly advantageous to choose a distance as small as possible between the projector and the camera and to point them in the same direction.

[0007] The fixed geometric relationship between the camera and the projector and the projection area onto which the projector projects its information, overlapping with the monitoring area of ​​the camera, makes it possible for the projector to project context-relevant information at any time during the operation of the collaborative robot onto the relevant working area, which is typically at least a part of the area monitored by the camera, thereby opening a visual communication channel from the robot to the human.

[0008] This visual communication channel can be used very effectively in the workflow, especially since the projection is also made onto the relevant work area and therefore onto an area where the robot's human colleague can focus his attention, without having to check in between by observing the robot to see if it is giving off any warning signals.

[0009] Particularly advantageously, during the operation of the collaborative robot, the camera and the projector are moved together with a movably arranged part on the collaborative robot, in which the camera and the projector are arranged in a fixed manner to define a fixed geometrical relationship between the projector and the camera, so that the attention of the human colleague can be focused on the respective relevant point of the work process. This can in particular be the head of the robot, preferably having at least one tool receptacle, but also a robot arm equipped with a tool receptacle, a gripper or another tool. In particular in the case of very complex workflows or when different work steps have to be performed on an object from different directions, it is also conceivable to arrange the camera and the projector together on an arm that can be moved in order to be able to display the relevant work area from different perspectives and to project information in different directions.

[0010] It is particularly preferred if in this method the collaborative robot is controlled to adapt the operating parameters or image data of the projector based on the data of the camera image and / or to adapt the operating or image data of the camera based on the information projected by the projector, which is made significantly easier by the fixed spatial relationship between the camera and the projector.

[0011] For example, a collaborative robot operating in this way can be programmed to identify a "shrugging" gesture by a human colleague by evaluating camera footage and, in response, project instructions via a projector of what the human colleague should do next.

[0012] An embodiment of the method contemplates controlling the cobot to change the operating parameters of the projector in such a way that, when movements of the cobot and / or of the moving parts of the cobot on which the camera and projector are located occur and / or during the movements, the focus and / or location at which the projector projects the information is maintained, i.e., if, for example, such a movement results in the projection of text information onto an inclined surface, which causes the text to become distorted and / or blurred, the control of the cobot will recognize this problem by analyzing the camera image and will eliminate it by adjusting the projection optics of the projector accordingly.

[0013] According to another advantageous embodiment of the method, it is provided that by controlling the collaborative robot, a calibration or refinement of the image evaluation of the camera image is performed based on an evaluation of an image and / or a structured light beam projected by a projector into the spatial area monitored by the camera. In this way, a specific calibration of the camera can be performed, for example, when a corresponding image or structured light is projected by a projector. The method can further be used to provide 3D information to images captured by a 2D camera.

[0014] In a first advantageous variant of the method, the information projected by the projector comprises information about the impending action of the cobot, such as for example which object the cobot will grab next or which area of ​​the workspace the cobot will move to next, so that a human colleague of the cobot can receive early information about where to move or not to move to avoid contact with the cobot, i.e. the human colleague receives information about the intention of the cobot.

[0015] In a second advantageous variant of the method, the information projected by the projector comprises information about the next action to be taken by a human colleague collaborating with the cobot, which reduces the demands on the human colleague and allows him to be used more flexibly, if necessary, as an assistant of the cobot to carry out different tasks.

[0016] In a third advantageous variant of the method, the information projected by the projector comprises safety-related information: for example, a visual warning signal can be continuously or precisely projected in the very area where the cobot's human colleague is not allowed to enter, if the cobot, by evaluating the camera data, has identified the approach of the human colleague to a dangerous area. The latter is an example of how the information projected by the projector depends on the result of the evaluation of the camera footage.

[0017] A collaborative robot for carrying out the method according to the invention comprises a camera for monitoring a spatial region and a projector designed and arranged to project information into a projection region which is at least a partial region of the spatial region monitored by the camera, where the camera and the projector are in a fixed geometric relationship to each other and are arranged in or on a common part.

[0018] The common part can be an arm or a head of the collaborative robot. In an advantageous variant, it is contemplated that the common part is a module that is removably attached to the collaborative robot. Attachment can be by, for example, screws, magnets, snap connections, etc.

[0019] Preferably, there is furthermore present a controller of the collaborative robot, which is designed and configured to adapt the operational parameters or image data of the projector based on the data of the camera image and / or to adapt the operational data or image data of the camera based on the information projected by the projector, in order to be able to carry out the method described in detail above.

[0020] Particularly preferably, the camera is designed as a 3D camera in order to be able to better recognize surface structures and to take this information into account for the operation of the projector. The invention is explained in more detail below on the basis of figures showing exemplary embodiments. [Brief description of the drawings]

[0021] [Figure 1] FIG. 1 shows a head of a collaborative robot according to a first embodiment of the present invention. [Figure 2a] FIG. 13 shows an arm of a collaborative robot according to a second embodiment of the present invention. [Figure 2b] FIG. 1 shows modules that are retrofitted to a collaborative robot to implement the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] 1 shows a head 10 of a collaborative robot 1, on the underside of which is arranged a downward-facing tool holder 11. On the underside of a protrusion 12, fixedly connected to the head 10 and arranged, for example laterally, there is a projector 13 and a camera 14, for example a 3D camera, which are arranged in a fixed geometrical relationship and as close to each other as possible, since they are mounted on the protrusion 12.

[0023] Furthermore, in FIG. 1, the projection area 15 of the projector 13, i.e. the area into which this projector projects information, and the spatial area 16 monitored by the camera 14 are shown by the illustration of cross sections of essentially conical areas, respectively, making it clear that the projector 13 projects its information into a partial area of ​​the spatial area 16 monitored by the camera 14.

[0024] Figure 2a shows an arm 20 of a collaborative robot 2, on which a head 21 having a tool receptacle 22 is rotatably arranged. On the shaft of the tool receptacle 22 a module 30 shown in figure 2b is removably arranged.

[0025] As can be seen in Fig. 2b, a camera 31, in particular designed as a 3D camera, and a projector 32 are arranged in a module 30 in a fixed geometric relationship to one another, such that the projector 32 projects information into a projection area, which is at least a partial area of ​​the spatial area monitored by the camera. The module is well suited to be retrofitted to the collaborative robots 1, 2, since it can be removably attached to different points of the collaborative robots 1, 2 by means of its curved mounting surface 33. Inside the module 30, and not visible in Fig. 2b because it is inside, a controller of the collaborative robot can be arranged, which adapts the operating parameters or image data of the projector based on the data of the camera image and / or adapts the operating data or image data of the camera based on the information projected by the projector; furthermore, the module 30 can also have a separate energy supply arranged inside it, for example in the form of a rechargeable battery or a battery. [Explanation of symbols]

[0026] 1,2… Collaborative robots 10. Head 11...Tool holder 12...Protruding part 13,32…Projector 14,31…Camera 15...Projection area 16…Spatial area 20…Arm 21...Head 22...Tool storage section 30…Module 33…Mounting surface

Claims

1. A method for operating a collaborative robot (1, 2), the collaborative robot (1, 2) monitoring a spatial region (16) by means of a camera (14, 31), the collaborative robot (1, 2) projecting information by means of a projector (13, 32) in a fixed geometric relationship with the camera (14, 31) onto a projection region (15), which is at least one subregion of the spatial region (16) monitored by the camera (14, 31).

2. characterised in that during the operation of the collaborative robot (1, 2), the camera (14, 31) and the projector (13, 23) are moved together with parts movably arranged on the collaborative robot (1, 2) on which the camera (14, 31) and the projector (13, 32) are fixedly arranged in order to define the fixed geometrical relationship between the projector (13, 32) and the camera (14, 31). The method of claim 1.

3. by controlling the collaborative robot (1, 2) to adapt the operating parameters or image data of the projector (13, 23) based on the data of the camera image and / or to adapt the operating data or image data of the camera (14, 31) based on the information projected by the projector (13, 32), The method according to claim 1 or 2.

4. characterised in that by controlling the collaborative robot (1, 2) the operating parameters of the projector (13, 32) are changed in such a way that the focus and / or the location at which the projector (13, 32) projects the information is maintained even in the event of a movement of the robot (1, 2) and / or of a movable part of the robot (1, 2) on which the camera (14, 31) and the projector (13, 32) are arranged. The method according to claim 2 or 3.

5. characterised in that by controlling the collaborative robot (1, 2) a calibration or refinement of an image evaluation of the image of the camera (14, 31) is carried out on the basis of an evaluation of an image and / or a structured light beam projected by the projector (13, 32) into a spatial area monitored by the camera (14, 31), The method according to claim 3 or 4.

6. the information projected by the projector (13, 32) includes information about an upcoming action of the collaborative robot (1, 2), The method according to any one of claims 1 to 5.

7. the information projected by the projector (13, 32) includes information regarding a next action to be taken by a human colleague collaborating with the collaborative robot (1, 2); The method according to any one of claims 1 to 6.

8. The information projected by the projector (13, 32) includes safety-related information. The method according to any one of claims 1 to 7.

9. The information projected by the projector (13, 32) depends on an evaluation result of a camera image. The method according to any one of claims 1 to 8.

10. A collaborative robot (1, 2) for carrying out the method according to any one of claims 1 to 9, said collaborative robot (1, 2) comprising a camera (14, 31) for monitoring a spatial region (16) and a projector (13, 32) designed and configured to project information into a projection region (15), which is at least one partial region of said spatial region (16) monitored by said camera (14, 31), said camera (14, 31) and said projector (13, 32) being arranged in or on a common part in a fixed geometric relationship to each other.

11. characterised in that the common part is a module (30) that is removably attached to the collaborative robots (1, 2), A collaborative robot (1, 2) according to claim 10.

12. characterised in that a controller of the collaborative robot (1, 2) is present, the controller being designed and configured to adapt the operating parameters or image data of the projector (13, 32) based on the data of the camera image and / or to adapt the operating data or image data of the camera (14, 31) based on the information projected by the projector (13, 32), A collaborative robot (1, 2) according to claim 10 or 11.

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