Safety verification device, safety verification method, and program

Abstract

To provide a technique for easily verifying whether actual environment is constructed as designed in simulation.SOLUTION: A safety verification apparatus includes: real environment information acquiring means for acquiring three dimensional space information representing a working area of a robot; virtual environment information acquiring means for acquiring a three dimensional model of a virtual space in which the robot and its peripheral elements are respectively arranged; comparison means compares configuration of at least one of the robot and the peripheral element between the virtual space of a simulation and an actual work area by using the acquired three dimensional model and the three dimensional space information of the work area; and output means which outputs a comparison result by the comparison means.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a safety verification device, a safety verification method, and a program. [Background technology]

[0002] In the field of FA (factory automation), computer simulation is beginning to be used for teaching industrial robots and verifying their operation. For example, by placing 3D models of a robot and its surrounding elements (workbench, work, other machines, safety fences, etc.) in a virtual space and running an operation simulation, it is possible to verify the robot's movement and its timing with other machines, and to check for safety issues.

[0003] Patent Document 1 discloses an interference determination device that performs a simulation using three-dimensional models of a robot, a workpiece, and peripheral objects (such as a tray) and determines interference between the robot and the workpiece or peripheral objects during its movement. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-171501 A Summary of the Invention [Problem to be solved by the invention]

[0005] If the operation and safety can be confirmed in advance by a simulation using a 3D model, the start-up time when introducing a robot (actual machine) into a factory can be reduced, which is a great advantage. However, in reality, there may be some differences between the virtual environment used in the simulation and the actual environment in the factory, which may become a risk factor. For example, if a safety fence was installed around the robot in the simulation, but the safety fence was forgotten or placed incorrectly in the actual environment, the safety guaranteed by the simulation becomes meaningless. In addition, if the shape of the 3D model of the robot used in the simulation differs from that of the actual machine, there is a risk of unexpected interference. The existence of critical differences should not be overlooked, but it is not easy for humans to find all the differences between the virtual environment and the actual environment.

[0006] The present invention has been made in consideration of the above-mentioned circumstances, and aims to provide a technique for easily verifying whether a real environment has been constructed according to a design assumed in a simulation. [Means for solving the problem]

[0007] In order to achieve the above object, the present invention employs the following configuration.

[0008] A first aspect of the present invention provides a safety verification device comprising: a real environment information acquisition means for acquiring three-dimensional spatial information representing a working area of ​​a robot; a virtual environment information acquisition means for acquiring a three-dimensional model of a virtual space in which the robot and its peripheral elements are arranged; a comparison means for comparing the configuration of at least one of the robot or the peripheral elements between a simulation virtual space and an actual working area using the acquired three-dimensional model and the three-dimensional spatial information of the working area; and an output means for outputting a comparison result by the comparison means.

[0009] Three-dimensional spatial information is information that represents the real environment (the robot's working area). For example, The original space information may be obtained by measuring the real environment (the robot's working area) with a three-dimensional sensor. The three-dimensional space information includes, for example, information on the three-dimensional shape and position of the robot and its peripheral elements. On the other hand, the three-dimensional model is not a measurement of the real environment, but is information that represents a virtual environment. For example, the three-dimensional model may be data used by a simulator in a simulation. The safety verification device compares the two and checks whether there are any differences in the configuration of the robot and the peripheral elements.

[0010] This allows users to easily verify whether the actual environment has been constructed according to the design assumed in the simulation. In other words, if there are no differences or the differences are negligible, operation and safety as designed can be guaranteed. Conversely, if it is found that there are differences that cannot be ignored, this can lead to the discovery of installation errors, a review of safety measures, and a decision on the need for offline teaching or re-simulation.

[0011] The output means may output a comparison screen between the 3D model and the 3D spatial information of the work area to a display device, thereby allowing a user to easily and visually confirm the correspondence / difference between the virtual space of the simulation and the actual work area.

[0012] The output means may superimpose the three-dimensional model and the three-dimensional spatial information on the comparison screen. Such a comparison screen makes it easy to compare the shape and arrangement assumed in the simulation with the actual shape and arrangement.

[0013] The output means may output the difference between the three-dimensional model and the three-dimensional space information on the comparison screen in a manner that makes the difference distinguishable from other parts. By using such a comparison screen, the difference between the shape and arrangement assumed in the simulation and the actual shape and arrangement can be easily and intuitively grasped.

[0014] The output means may output, on the comparison screen, a first difference part that exists in the three-dimensional model but does not exist in the three-dimensional space information, and a second difference part that does not exist in the three-dimensional model but exists in the three-dimensional space, in different modes from each other. This is because the measures to be taken may differ between a case where something assumed in a simulation does not actually exist and a case where something not assumed in a simulation actually exists.

[0015] In order to perform a simulation that reflects the actual work area, the system may further include an update means for updating the 3D model in accordance with the 3D space information. With this configuration, the 3D model for simulation is corrected so as to match the shapes and positions of the robot and peripheral elements in the actual work area. Therefore, a highly accurate simulation under the same conditions as the actual work area can be easily realized.

[0016] A monitoring system having a three-dimensional sensor may be installed to monitor the working area of ​​the robot, and the real environment information acquisition means may acquire three-dimensional spatial information of the working area from the monitoring system. By utilizing the three-dimensional sensor of the monitoring system, it is not necessary to prepare a dedicated three-dimensional sensor for the safety verification device, thereby reducing costs and improving convenience.

[0017] The comparison means may perform coordinate matching between the three-dimensional model and the three-dimensional spatial information of the work area, based on the position of the three-dimensional sensor of the monitoring system. Since the three-dimensional spatial information is generated from the measurement results of the three-dimensional sensor, it is easy to express it in a coordinate system based on the position of the three-dimensional sensor. Therefore, the virtual space (three-dimensional model) and Coordinate alignment in real space (work area) can be easily achieved.

[0018] The comparison means may have a user interface for correcting the three-dimensional spatial information of the work area before the comparison with the three-dimensional model. With such a user interface, error data or missing data of the three-dimensional spatial information can be manually corrected, thereby improving the accuracy and reliability of the comparison process with the three-dimensional model in the subsequent stage.

[0019] A second aspect of the present invention provides a safety verification method comprising the steps of: acquiring three-dimensional spatial information representing a working area of ​​a robot; acquiring a three-dimensional model of a virtual space in which the robot and its peripheral elements are arranged; comparing the configuration of at least one of the robot or the peripheral elements between a simulation virtual space and an actual working area using the acquired three-dimensional model and the three-dimensional spatial information of the working area; and outputting a result of the comparing step.

[0020] A third aspect of the present invention provides a program for causing a computer to execute each step of the above-mentioned security verification method.

[0021] The present invention may be understood as a safety verification device or a real environment confirmation device having at least a part of the above means. The present invention may also be understood as a system having a safety verification device and a three-dimensional sensor, a system having a safety verification device and a monitoring system, a system having a safety verification device and a simulator, or a system having a safety verification device, a simulator and a monitoring system. The present invention may also be understood as a safety verification method having at least a part of the above processing, a control method for a safety verification device, or the like, or as a program for realizing such a method or a recording medium on which the program is non-temporarily recorded. Note that the above means or processing can be combined with each other as much as possible to constitute the present invention. Effect of the Invention

[0022] According to the present invention, it is possible to easily verify whether the actual environment is constructed according to the design assumed in the simulation. [Brief description of the drawings]

[0023] [Figure 1] FIG. 1 is a diagram showing a schematic configuration example of a simulation system including a safety verification device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram showing an example of the configuration of the simulation system. [Diagram 3] FIG. 3 is a flowchart showing the flow of the safety verification process performed by the safety verification device. [Figure 4] FIG. 4 is a diagram showing an example of a simulation (virtual environment) and a work area (real environment) in a factory. [Diagram 5] FIG. 5 is a diagram showing an example of the comparison screen. [Figure 6] FIG. 6 is a diagram showing an example of the comparison screen. [Figure 7] FIG. 7 is a diagram showing an example of a user interface for correcting three-dimensional space information. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] <Application Examples> An application example of the present invention will be described with reference to Fig. 1. Fig. 1 shows a schematic diagram of a configuration example of a simulation system 1 including a safety verification device according to an embodiment of the present invention.

[0025] This simulation system 1 is an industrial robot (hereinafter referred to as "robot") 21 The simulation system 1 is a system for performing teaching (development of a control program), simulation, safety verification, etc. As shown in Fig. 1, the simulation system 1 is configured to have a safety verification device 10 and a simulator 11. The simulation system 1 is capable of communicating with a robot controller 20 for controlling a robot 21 and a monitoring system 30 for monitoring a working area of ​​the robot 21 via a network. For example, it is assumed that a user who maintains or manages the robot 21 uses the simulation system 1 to remotely access the robot controller 20 and the monitoring system 30 installed in a factory via the Internet.

[0026] The simulator 11 is an integrated development tool having a function for developing a control program for the robot 21 and a function for simulating using a three-dimensional model. That is, a user can use the simulator 11 to create a control program for the robot controller 20, execute the control program in an emulator, check the operation and arrangement of the robot and its peripheral elements in a virtual space, and perform debugging of the program, operation verification, and safety verification. The created control program can be installed in the robot controller 20 via a network. By using such a simulator 11, teaching and operation verification are possible even without the presence of an actual machine (robot 21 or robot controller 20). This has the advantages of being able to significantly reduce the start-up time when introducing equipment into a factory, and making teaching and maintenance possible by remote operation.

[0027] The simulator 11 executes a simulation using a virtual environment in which three-dimensional models (e.g., CAD data, etc.) of the robot 21 and its peripheral elements (e.g., a workbench, a workpiece, tools, parts, other machines, safety fences, etc.) are arranged in a virtual space. If this virtual environment sufficiently matches the actual environment of the factory, the validity and reliability of the simulation results are guaranteed. However, in reality, there are cases where some differences exist between the virtual environment and the actual environment. The existence of critical differences should not be overlooked, but it is not easy for a human being to discover all the differences between the virtual environment and the actual environment. In particular, when the person in charge of teaching (the user of the simulator 11) and the person in charge of the equipment (the user who starts up the actual machine in the factory) are different, or when the simulator 11 is installed remotely (at a location different from the factory), it is extremely difficult to compare the virtual environment with the actual environment.

[0028] In order to solve such a problem, the safety verification device 10 provides a function of comparing the virtual environment used by the simulator 11 with the real environment in the factory and judging whether there is a difference. Specifically, the work area of ​​the robot 21 is measured by the three-dimensional sensor 31 to generate three-dimensional spatial information of the work area, and this is provided to the safety verification device 10 as real environment information. The safety verification device 10 compares this real environment information with the three-dimensional model (virtual environment information) obtained from the simulator 11 and judges whether there is a difference in the configuration of the robot and its peripheral elements (i.e., three-dimensional shape, position, size, etc.). Then, it outputs the comparison result between the real environment and the virtual environment. For example, if there is a difference between the two, it is preferable to output a notice to inform the user of the problem. Also, if there is no difference between the two (or the difference is only small enough to not cause a problem), it may output a notice that the safety is guaranteed as in the simulation. Furthermore, the safety verification device 10 may make necessary corrections to the simulation information and the control program.

[0029] By using such a safety verification device 10, a user can easily verify whether the actual environment is constructed according to the design assumed in the simulation. In other words, if there is no difference or the difference is negligible, the operation and safety according to the design can be guaranteed. Conversely, if it is found that there is a difference that cannot be ignored, it can lead to the discovery of installation errors, the review of safety measures, and the need for offline teaching or re-simulation.

[0030] <Embodiment> FIG. 2 is a block diagram showing an example of the configuration of the simulation system 1 according to the present embodiment.

[0031] The simulation system 1 mainly comprises a safety verification device 10, a simulator 11, a display device 12, and an input device 13. The safety verification device 10 includes a real environment information acquisition unit 100, a virtual environment information acquisition unit 101, a comparison unit 102, an output unit 103, and a simulation data update unit 104. The simulator 11 includes a simulation data storage unit 110 that stores simulation data.

[0032] The real environment information acquisition unit 100 acquires three-dimensional spatial information (sensor data) of the work area measured by the three-dimensional sensor 31. This three-dimensional spatial information includes information on the three-dimensional shape, position, and size of the robot 21 installed in the work area and the surrounding elements (e.g., workbench, work, tools, parts, other machines, safety fences, etc.) that exist around it. Although the specific data format of the three-dimensional spatial information is not important, in this embodiment, point cloud data is used as an example.

[0033] The virtual environment information acquisition unit 101 acquires a three-dimensional model (simulation data) used in the simulation from the simulator 11. This three-dimensional model includes three-dimensional models of the robot and the surrounding elements. Although the specific data format of the three-dimensional model is not important, for example, data generated from design information of a three-dimensional CAD is used.

[0034] The comparison unit 102 compares the three-dimensional space information (sensor data) of the work area with the three-dimensional model used in the simulation (simulation data). Then, the comparison unit 102 determines whether or not there is a difference in the configuration of the robot and / or peripheral elements between the virtual space of the simulation and the actual work area.

[0035] The output unit 103 outputs the comparison result and the determination result obtained by the comparison unit 102. The information is output to the display device 12 provided in the simulation system 1, an external device (for example, another computer, a PLC, etc.), and the like.

[0036] The simulation data update unit 104 is a function for updating the three-dimensional model in accordance with the three-dimensional space information (sensor data) based on the comparison result and the determination result by the comparison unit 102. The updated three-dimensional model is stored in the simulation data storage unit 110 and is used when performing a re-simulation, etc.

[0037] The simulation data storage unit 110 stores a group of data used by the simulator 11 for simulation. The simulation data may include, for example, a three-dimensional model of the robot and its peripheral elements, a control program for the robot controller, various condition settings when executing the simulation, etc. The simulator 11 can communicate with the robot controller 20, and can write the control program to the robot controller 20, obtain information on the robot controller 20 side, etc.

[0038] The display device 12 is a device for displaying information, and may be, for example, a liquid crystal display or an organic EL display. The input device 13 is a device for inputting information, and may be, for example, a keyboard, a mouse, a touch panel, etc. A touch panel display serving as both the display device 12 and the input device 13 may be used.

[0039] The simulation system 1 may be configured, for example, by a personal computer including a processor, a memory, a storage, etc. In this case, the processor loads a program stored in the storage into the memory and executes the program to provide the functions of each unit shown in Fig. 2. Note that the configuration is not limited to this, and some or all of the functions in Fig. 2 may be configured by ASIC, FPGA, etc., or may be realized by cloud computing or distributed computing.

[0040] <3D sensor> The three-dimensional sensor 31 is a device that measures three-dimensional spatial information. Any type of sensor may be used as long as it can measure the three-dimensional shape, position, and size of an object present in the work area. Any type of sensor may be used, such as an active type or a passive type, and any principle may be used, such as a TOF camera, a stereo camera, structured lighting, or LiDAR. In this embodiment, a TOF sensor (TOF camera) that uses infrared light to obtain a distance image from the time of flight (TOF) of light is used. Note that there are direct and indirect types of TOF methods, and either type may be used. In this embodiment, an indirect type TOF sensor is used, that is, a type that obtains distance information based on the phase difference between projected light and reflected light.

[0041] In Fig. 1 and Fig. 2, a three-dimensional sensor 31 of a monitoring system 30 installed in the working area of ​​the robot 21 is used. The reason is that by utilizing the three-dimensional sensor 31 of the monitoring system 30, which is an existing facility, it is not necessary to prepare a dedicated three-dimensional sensor for the safety verification device 10, so that it is possible to reduce costs and improve convenience. In addition, since the three-dimensional sensor 31 of the monitoring system 30 is fixed at an optimal position where the working area of ​​the robot 21 can be measured, sensor data of a necessary and sufficient range for safety verification (comparison with virtual environment information) can be reliably obtained. Moreover, since the three-dimensional sensor 31 of the monitoring system 30 has a known installation position (relative positional relationship with respect to the working area and the robot 21), it has the advantage of being easy to perform coordinate alignment with the virtual environment information described later.

[0042] In this embodiment, the 3D sensor 31 of the monitoring system 30 is used, but of course, a 3D sensor unrelated to the monitoring system 30 or a non-fixed 3D sensor may be used. For example, a 3D sensor that measures while moving or multiple 3D sensors installed at different positions may be used to measure the work area from multiple different viewpoints, and the measurement results may be integrated to generate 3D spatial information. With a fixed 3D sensor 31 as shown in FIG. 1, it is inevitable that blind spots (areas that cannot be measured) will occur, but it is expected that highly accurate and reliable 3D spatial information can be obtained by integrating the measurement results from multiple viewpoints.

[0043] <Safety verification method> An example of the safety verification method of this embodiment will be described with reference to Fig. 3. Fig. 3 is a flowchart showing the flow of processing by the safety verification device. This safety verification is a process of verifying whether the safety designed at the time of simulation (teaching) is guaranteed at the site by comparing the virtual environment used in the simulation with the actual environment in the factory and checking whether there is any difference between the virtual environment and the actual environment. Therefore, before the processing of Fig. 3 is performed, it is assumed that (1) a simulation is performed by the simulator 11, the simulation data used at that time is stored in the simulation storage unit 110, and (2) equipment such as a robot and its peripheral elements is installed in the factory.

[0044] In step S100, the real environment information acquisition unit 100 acquires three-dimensional spatial information of the work area of ​​the factory from the monitoring system 30. The data may be received directly from the system 30 online, or the three-dimensional spatial information data may be read in offline or indirectly.

[0045] In step S101, the virtual environment information acquisition unit 101 acquires, from the simulator 11, the three-dimensional model used in the simulation.

[0046] In step S102, the comparison unit 102 performs coordinate matching between the three-dimensional space information acquired in step S100 and the three-dimensional model acquired in step S101. At this time, the comparison unit 102 may perform coordinate matching based on the position (more specifically, the viewpoint) of the three-dimensional sensor 31 of the monitoring system 30. The measurement results (raw data) of the three-dimensional sensor 31 are generally expressed in a coordinate system (also called a camera coordinate system) based on the position (viewpoint) of the three-dimensional sensor 31. On the other hand, if the position of the three-dimensional sensor 31 is known, it is easy to convert the view and coordinate system of the three-dimensional model to match the viewpoint. Therefore, by performing coordinate matching based on the position of the three-dimensional sensor 31, the coordinates of the three-dimensional space and the three-dimensional model can be matched with high accuracy by simple processing.

[0047] In step S103, the comparison unit 102 compares the three-dimensional space information with the three-dimensional model. The three-dimensional space information is given, for example, as point cloud data, and the three-dimensional model is given, for example, as so-called vector data such as CAD data. Although the data formats of the two are different, if the real environment completely matches the virtual environment, a point cloud cluster with the same position, shape, and size as the three-dimensional model should be formed in the three-dimensional space information. Therefore, it is possible to compare and determine whether or not an object with substantially the same shape and size as the robot and peripheral elements placed in the virtual space during the simulation exists in a similar position in the actual work area.

[0048] There are three types of determination results: Note that the comparison unit 102 may output the following determination results (1) to (3) for each three-dimensional model or each point cloud cluster, for example.

[0049] (1) The same object as the 3D model exists in the 3D space information. In this case, it can be confirmed that the real environment matches the virtual environment.

[0050] (2) The same object as the 3D model does not exist in the 3D spatial information. In this case, the object that existed during the simulation does not exist in the real environment. If the object in question is a safety facility such as a fence or protective plate, this judgment result becomes a critical issue.

[0051] (3) The 3D spatial information contains an object that does not exist in the 3D model. In this case, an object that was not considered during the simulation exists in the real environment. For example, if the shape of the robot itself is different, or an object protrudes into the path of the robot's movement, there is a risk of unintended interference (collision), so this judgment result can also be a critical issue.

[0052] In step S104, the output unit 103 outputs the comparison result and the determination result by the comparison unit 102. The user can look at the output contents of the output unit 103 to determine whether there is a difference between the real environment and the virtual environment, and if there is a difference, whether it is a critical problem. Then, if necessary, improvements can be made, such as supplementing safety measures that were lacking in the real environment or removing objects that may cause interference.

[0053] <Example of result output> Figure 4 shows an example of a simulation (virtual environment) and a work area in a factory (real environment). In the virtual environment, a robot 21v and a workpiece 41v are placed on a worktable 40v, and a safety fence 44v is provided on the left side of the worktable 40v. Reference symbol 31v indicates a three-dimensional sensor. Meanwhile, in the real environment, the robot 21 and the workpiece 41 are placed on the worktable 40, which is the same as the virtual environment. However, it differs from the virtual environment in that a tool 42 is placed in front of the robot 21, and that no safety fence is provided on the left side of the worktable 40.

[0054] 5 is an example of a comparison screen displayed on the display device 12. The left side of the screen displays simulation data (three-dimensional model), and the right side displays sensor data (three-dimensional space information). By displaying two types of data in this way with the same viewpoint, it is possible to easily and visually confirm the correspondence / difference between the virtual space of the simulation and the actual work area.

[0055] On the simulation data screen, the safety fence 44v is highlighted. This is the difference that corresponds to judgment result (2). On the other hand, on the sensor data screen, the tool 42 is highlighted. This is the difference that corresponds to judgment result (3). By displaying the difference in such a way that it is distinguishable from the other parts, the difference between the shape and arrangement assumed in the simulation and the actual shape and arrangement can be easily and intuitively grasped.

[0056] FIG. 6 is another example of a comparison screen. In the comparison screen of FIG. 5, the 3D model and the 3D space information are displayed side by side, but in the comparison screen of FIG. 6, the 3D model and the 3D space information are displayed superimposed on each other. This type of display makes it easier to compare the shape and arrangement assumed in the simulation with the actual shape and arrangement. In addition, in the comparison screen of FIG. 6, the difference part (first difference part) corresponding to the judgment result (2) and the difference part (second difference part) corresponding to the judgment result (3) are displayed in different modes. Since the measures to be taken may differ between the judgment results (2) and (3), notifying them in this way improves convenience for the user.

[0057] <Simulation data update> When the determination result (3) is obtained, the simulation data update unit 104 may update the three-dimensional model in accordance with the three-dimensional space information (sensor data). This update process is executed, for example, after step S103 in FIG.

[0058] 5 and 6, the simulation data update unit 104 generates a three-dimensional model corresponding to the tool 42 existing in the real environment and adds it to the simulation data. Then, the simulator 11 performs a re-simulation using the updated simulation data, thereby making it possible to check whether or not the robot 21 and the tool 42 interfere with each other.

[0059] <Correction of 3D spatial information> Since the three-dimensional spatial information is generated from the measurement results of the three-dimensional sensor 31, it is inevitable that the information will contain measurement errors. Furthermore, no measurement results can be obtained for objects that are outside the field of view or in the blind spot of the three-dimensional sensor 31. Therefore, before the comparison process (step S102 in FIG. 3), error data and missing data in the three-dimensional spatial information may be manually corrected. This makes it possible to improve the accuracy and reliability of the comparison process in step S102.

[0060] FIG. 7 shows an example of a user interface for correcting three-dimensional space information provided by the comparison unit 102. Three-dimensional space information (point cloud data) and a three-dimensional model (dashed line) are superimposed on the screen. When the user operates the mouse pointer to select an area and presses the "Delete" button, The point cloud within the selected area will be deleted. Also, if you select an area and press the "Add" button, the point cloud within that area will be complemented. By performing manual corrections like this, it is possible to obtain well-organized 3D spatial information, as shown in the bottom of Figure 7.

[0061] <Modification> The above embodiment merely exemplifies the configuration of the present invention. The present invention is not limited to the above specific embodiment, and various modifications are possible within the scope of the technical idea. For example, the comparison screen and highlighting shown in Figs. 5 and 6 are merely examples, and any form of display may be used as long as the purpose can be achieved. In addition, in the above embodiment, the safety verification device and the simulator are provided in the same system, but the safety verification device and the simulator may be separate devices. Alternatively, the safety verification device and the monitoring system may be provided in the same system.

[0062] <Additional Notes> [1] A real environment information acquisition means (10) for acquiring three-dimensional spatial information representing a working area of ​​a robot (21); a virtual environment information acquisition means for acquiring a three-dimensional model (21v, 40v, 41v, 44v) of a virtual space in which the robot and its peripheral elements are arranged; a comparison means (102) for comparing the configuration of at least one of the robot (21) or the peripheral elements (40, 41, 42) between a virtual space of a simulation and an actual work area using the acquired three-dimensional model (21v, 40v, 41v, 44v) and the three-dimensional space information of the work area; an output means (103) for outputting a comparison result by the comparison means (102); A safety verification device (10) comprising:

[0063] [2] A step (S100) of acquiring three-dimensional space information representing a working area of ​​the robot; A step (S101) of acquiring a three-dimensional model of a virtual space in which the robot and its peripheral elements are arranged; A step (S102) of comparing the configuration of at least one of the robot and the peripheral elements between a virtual space of a simulation and an actual work area using the acquired three-dimensional model and the three-dimensional spatial information of the work area; A step (S103) of outputting a result of the comparing step; A safety verification method comprising the steps of:

[0064] [3] A real environment information acquisition means (100) for acquiring three-dimensional spatial information of a working area of ​​a robot (21) obtained by measuring the working area of ​​the robot (21) using a three-dimensional sensor (31); a virtual environment information acquisition means (101) for acquiring a three-dimensional model (21v, 40v, 41v, 44v) used in a simulation from a simulator (11) which places a three-dimensional model (21v, 40v, 41v, 44v) of each of the robot and its peripheral elements in a virtual space and simulates the movement of the robot (21v) in the virtual space; a comparison means (102) for comparing the acquired three-dimensional model (21v, 40v, 41v, 44v) with the three-dimensional space information of the work area and determining whether or not there is a difference in configuration of the robot (21) and / or the peripheral elements (40, 41, 42) between the virtual space of the simulation and the actual work area; an output means (103) for outputting a notification when there is a difference in the configuration of the robot and / or the peripheral elements between the virtual space of the simulation and the actual working area; A safety verification device (10) comprising:

[0065] [4] A step (S100) of acquiring three-dimensional spatial information of a work area of ​​a robot obtained by measuring the work area of ​​the robot using a three-dimensional sensor; A step (S101) of acquiring a three-dimensional model used in a simulation from a simulator that places three-dimensional models of the robot and its peripheral elements in a virtual space and simulates the operation of the robot in the virtual space; a step (S102) of comparing the acquired three-dimensional model with the three-dimensional space information of the work area and determining whether or not there is a difference in configuration of the robot and / or the peripheral elements between the virtual space of the simulation and the actual work area; outputting a notification when there is a difference in the configuration of the robot and / or the peripheral elements between the simulated virtual space and the actual working area (S103); A safety verification method comprising the steps of: [Explanation of symbols]

[0066] 1: Simulation system 10: Safety verification device 11: Simulator 12:Display device 13: Input device 20: Robot controller 21:Robot 21v: 3D model of a robot 30: Surveillance system 31: 3D sensor 31v: 3D model of 3D sensor 40: Workbench 40v: 3D model of workbench 41: Work 41v: 3D model of the workpiece 42: Tools 44v: 3D model of safety fence

Claims

1. A real environment information acquisition means for acquiring three-dimensional space information representing a working area of ​​the robot; a virtual environment information acquisition means for acquiring a three-dimensional model of a virtual space in which the robot and its peripheral elements are arranged; a comparison means for comparing a configuration of at least one of the robot and the peripheral elements between a virtual space of a simulation and an actual work area using the acquired three-dimensional model and the three-dimensional spatial information of the work area; an output means for outputting a comparison result by the comparison means; having The output means outputs a comparison screen on a display device, the comparison screen displaying the three-dimensional model and the three-dimensional spatial information of the work area in a superimposed manner. A safety verification device characterized by:

2. A real environment information acquisition means for acquiring three-dimensional spatial information representing a working area of ​​a robot; a virtual environment information acquisition means for acquiring a three-dimensional model of a virtual space in which the robot and its peripheral elements are arranged; a comparison means for comparing a configuration of at least one of the robot and the peripheral elements between a virtual space of a simulation and an actual work area using the acquired three-dimensional model and the three-dimensional spatial information of the work area; an output means for outputting a comparison result by the comparison means; having The output means outputs to a display device a comparison screen that displays a difference between the three-dimensional model and the three-dimensional spatial information of the work area in a manner that makes the difference distinguishable from other parts. A safety verification device characterized by:

3. A real environment information acquisition means for acquiring three-dimensional spatial information representing a working area of ​​the robot; a virtual environment information acquisition means for acquiring a three-dimensional model of a virtual space in which the robot and its peripheral elements are arranged; a comparison means for comparing a configuration of at least one of the robot and the peripheral elements between a virtual space of a simulation and an actual work area using the acquired three-dimensional model and the three-dimensional spatial information of the work area; an output means for outputting a comparison result by the comparison means; having The output means outputs to a display device a comparison screen that displays a first difference part that exists in the three-dimensional model but does not exist in the three-dimensional space information of the work area and a second difference part that does not exist in the three-dimensional model but exists in the three-dimensional space information of the work area in different modes. A safety verification device characterized by:

4. A real environment information acquisition means for acquiring three-dimensional spatial information representing a working area of ​​the robot; a virtual environment information acquisition means for acquiring a three-dimensional model of a virtual space in which the robot and its peripheral elements are arranged; a comparison means for comparing a configuration of at least one of the robot and the peripheral elements between a virtual space of a simulation and an actual work area using the acquired three-dimensional model and the three-dimensional spatial information of the work area; an output means for outputting a comparison result by the comparison means; having a monitoring system having a three-dimensional sensor is provided to monitor the working area of ​​the robot; The real environment information acquisition means acquires three-dimensional spatial information of the work area from the monitoring system. A safety verification device characterized by:

5. The comparison means performs coordinate matching between the three-dimensional model and the three-dimensional spatial information of the work area based on the position of the three-dimensional sensor of the monitoring system.

5. The safety verification device according to claim 4.

6. A real environment information acquisition means for acquiring three-dimensional spatial information representing a working area of ​​the robot; a virtual environment information acquisition means for acquiring a three-dimensional model of a virtual space in which the robot and its peripheral elements are arranged; a comparison means for comparing a configuration of at least one of the robot and the peripheral elements between a virtual space of a simulation and an actual work area using the acquired three-dimensional model and the three-dimensional spatial information of the work area; an output means for outputting a comparison result by the comparison means; having The comparison means has a user interface for correcting the three-dimensional spatial information of the work area before comparing with the three-dimensional model. A safety verification device characterized by:

7. The method further comprises updating means for updating the three-dimensional model in accordance with the three-dimensional spatial information in order to perform a simulation that reflects an actual work area.

7. The safety verification device according to claim 1, wherein the safety verification device is a device for verifying a safety of a vehicle.

8. acquiring three-dimensional spatial information representative of a working area of ​​the robot; obtaining a three-dimensional model of a virtual space in which the robot and its peripheral elements are arranged; Using the obtained three-dimensional model and the three-dimensional spatial information of the work area, a small amount of the robot or the peripheral elements is moved between a virtual space of a simulation and an actual work area. comparing at least one of the configurations; outputting a result of the comparing step; having A safety verification method, comprising: in the outputting step, outputting to a display device a comparison screen in which the three-dimensional model and the three-dimensional spatial information of the work area are superimposed.

9. A step of acquiring three-dimensional spatial information representing a working area of ​​a robot; obtaining a three-dimensional model of a virtual space in which the robot and its peripheral elements are arranged; comparing a configuration of at least one of the robot and the peripheral elements between a virtual space of a simulation and an actual working area using the obtained three-dimensional model and the three-dimensional spatial information of the working area; outputting a result of the comparing step; having A safety verification method characterized in that, in the outputting step, a comparison screen is output to a display device, which displays differences between the three-dimensional model and the three-dimensional spatial information of the work area in a manner that makes them distinguishable from other parts.

10. A step of acquiring three-dimensional spatial information representing a working area of ​​a robot; obtaining a three-dimensional model of a virtual space in which the robot and its peripheral elements are arranged; comparing a configuration of at least one of the robot and the peripheral elements between a virtual space of a simulation and an actual working area using the obtained three-dimensional model and the three-dimensional spatial information of the working area; outputting a result of the comparing step; having a comparison screen that displays a first difference part that exists in the three-dimensional model but does not exist in the three-dimensional spatial information of the work area and a second difference part that does not exist in the three-dimensional model but exists in the three-dimensional spatial information of the work area in different manners, on a display device, in the output step.

11. A step of acquiring three-dimensional spatial information representing a working area of ​​the robot from a monitoring system having a three-dimensional sensor installed to monitor the working area of ​​the robot; obtaining a three-dimensional model of a virtual space in which the robot and its peripheral elements are arranged; comparing a configuration of at least one of the robot and the peripheral elements between a virtual space of a simulation and an actual working area using the obtained three-dimensional model and the three-dimensional spatial information of the working area; outputting a result of the comparing step; A safety verification method comprising the steps of:

12. A step of acquiring three-dimensional spatial information representing a working area of ​​a robot; obtaining a three-dimensional model of a virtual space in which the robot and its peripheral elements are arranged; correcting the three-dimensional spatial information of the work area; comparing a configuration of at least one of the robot and the peripheral elements between a virtual space of a simulation and an actual working area using the acquired three-dimensional model and the corrected three-dimensional space information; outputting a result of the comparing step; A safety verification method comprising the steps of:

13. A program for causing a computer to execute each step of the safety verification method according to any one of claims 8 to 12.

Images