Method for evaluating safety of robot

Abstract

Provided is a method for evaluating the safety of a robot with improved safety evaluation accuracy. The method for evaluating the safety of a robot according to one aspect of the present invention is a method for evaluating the safety of a robot implemented by a processor provided in a robot operation device connected to a test robot, and comprises the steps of: obtaining a three-dimensional image or a three-dimensional model of a test robot including shape information of an actual robot; setting a moving time and a moving path of the test robot by inputting profile information including moving time information and moving path information of the test robot; calculating a physical quantity applied to an object to be collided into by considering at least one of the shape, effective mass, movement speed, and direction of an injury-causing dangerous portion of the test robot; and evaluating the safety of the test robot by determining whether the magnitude of the calculated physical quantity falls within the magnitude of a preset maximum physical quantity. The processor may be configured to: calculate, in the step of calculating the physical quantity applied to the object to be collided into, the physical quantity applied to the object to be collided into at one or more points in time; and when the magnitude of the physical quantity is greater than or equal to the magnitude of the maximum physical quantity, display, to a user, a classification operation in which the magnitude of the physical quantity is greater than or equal to the magnitude of the maximum physical quantity from among at least one classification operation of the test robot when the physical quantity is applied to the object to be collided into by the test robot.

Description

Robot safety assessment method

[0001] The present invention relates to a method for evaluating the safety of a robot, and more particularly, to a method for evaluating the safety of a robot with improved accuracy in safety evaluation.

[0002] Recently, with the realization of high-performance test robots, various efforts are being made to maximize operating convenience and ensure safety by preventing collisions with workers during operation of test robots.

[0003] Since these test robots can be installed within the same workspace as humans, collision-related accidents frequently occur during operation. Therefore, the essential requirements for test robots are 1) motion precision and 2) motion safety. While the first requirement, motion precision, has reached a certain level of maturity thanks to advances in motor precision control technology, the second requirement, motion safety, remains far behind in technological perfection.

[0004] In particular, with the term safety emerging as a key topic in test robot systems, various studies are being conducted to improve the safety of test robots.

[0005] However, most of the safety evaluation methods for currently developed robots involve installing separate devices to measure collision pressure, collision force, and movement speed on actual test robots, which increases the cost of evaluation.

[0006] Additionally, during safety evaluation, the test robot repeatedly stops and operates more than necessary, which reduces work efficiency and places a strain on the test robot.

[0007] To solve these problems, a method was implemented to measure the collision force applied to the body according to the movement of the test robot. However, since the collision force was measured by applying a constant pressure regardless of the shape of the collision site of the test robot, there was a problem in that the accuracy of the safety evaluation was low.

[0008] The present invention has been devised to solve the above-mentioned problems, and its purpose is to provide a safety evaluation method for a robot with improved accuracy of safety evaluation.

[0009] However, the technical problems to be solved by the present invention are not limited to the problems described above, and other problems not mentioned can be clearly understood by those skilled in the art from the description of the invention described below.

[0010] A safety evaluation method of a robot according to one aspect of the present invention is a safety evaluation method of a robot implemented by a processor provided in a robot operating device connected to a test robot, comprising: a step of acquiring a three-dimensional image or a three-dimensional model of a test robot including shape information of an actual robot; a step of setting a movement time and a movement path of the test robot by inputting profile information including movement time information and movement path information of the test robot; a step of calculating a physical quantity applied to a collision target by considering at least one of a shape, an effective mass, a movement speed, and a direction of an injury-causing risk area of ​​the test robot; and a step of evaluating the safety of the test robot by determining whether a magnitude of the calculated physical quantity falls within a magnitude of a preset maximum physical quantity, wherein, in the step of calculating the physical quantity applied to the collision target, the processor calculates the physical quantity applied to the collision target at a single or multiple points in time, and when the magnitude of the physical quantity is greater than or equal to the magnitude of the maximum physical quantity, determines a magnitude of the physical quantity among at least one distinct operation of the test robot when the physical quantity is applied to the collision target by the test robot, the distinct operation in which the magnitude of the physical quantity is greater than or equal to the magnitude of the maximum physical quantity. It can be configured to display to the user.

[0011] A safety evaluation method of a robot according to another aspect of the present invention is a safety evaluation method of a robot implemented by a processor equipped in a robot operating device connected to a test robot, comprising: a step of acquiring a three-dimensional image or a three-dimensional model of a test robot including shape information of an actual robot; a step of setting a movement time and a movement path of the test robot by inputting profile information including movement time information and movement path information of the test robot; a step of calculating a physical quantity applied to a collision target by considering at least one of a shape, an effective mass, a movement speed, and a direction of an injury-causing risk area of ​​the test robot; and a step of evaluating the safety of the test robot by determining whether the magnitude of the calculated physical quantity falls within the magnitude of a preset maximum physical quantity, wherein the processor, in the step of calculating the physical quantity applied to the collision target, calculates the physical quantity applied to the collision target at a single or multiple points in time, and when the magnitude of the physical quantity is greater than or equal to the magnitude of the maximum physical quantity, determines a distinction in which the magnitude of the physical quantity is greater than or equal to the magnitude of the maximum physical quantity among at least one distinct operation of the test robot when the physical quantity is applied to the collision target by the test robot. It is configured to display to a user about an operation, and for at least one of the distinct operations of the test robot, in which the size of the physical quantity is greater than or equal to the size of the maximum physical quantity, it may be configured to display to the user a speed value of the test robot or an operation time of the test robot in the distinct operation that induces the size of the physical quantity generated by the distinct operation to be less than or equal to the size of the preset maximum physical quantity.

[0012] According to another aspect of the present invention, a safety evaluation method of a robot is implemented by a processor provided in a robot operating device connected to a test robot, the method comprising: a step of acquiring a three-dimensional image or a three-dimensional model of a test robot including shape information of an actual robot; a step of setting a movement time and a movement path of the test robot by inputting profile information including movement time information and movement path information of the test robot; a step of calculating a physical quantity applied to a collision target by considering at least one of a shape, an effective mass, a movement speed, and a direction of an injury-causing risk area of ​​the test robot; and a step of evaluating the safety of the test robot by determining whether the magnitude of the calculated physical quantity falls within a magnitude of a preset maximum physical quantity, wherein the processor, in the step of calculating the physical quantity applied to the collision target, calculates the physical quantity applied to the collision target at a single or multiple points in time, and when the magnitude of the physical quantity is less than the magnitude of the maximum physical quantity, determines a distinction in which the magnitude of the physical quantity is less than the magnitude of the maximum physical quantity among at least one distinct operation of the test robot when the physical quantity is applied to the collision target by the test robot. The test robot may be configured to display to the user about an operation, and may be configured to display to the user a speed value of the test robot or an operation time of the test robot in a corresponding operation that causes the size of the physical quantity generated by the corresponding operation to become the size of a preset physical quantity, for a corresponding operation in which the size of the physical quantity is less than the size of the maximum physical quantity among at least one of the operation of the test robot.

[0013] Preferably, the processor may be configured to calculate the magnitude of the physical quantity of at least one distinct operation of the test robot, and compare the calculated magnitude of the physical quantity of at least one distinct operation of the test robot with the magnitude of the maximum physical quantity.

[0014] Preferably, the physical quantity may include at least one of force, pressure, energy applied to the impacted body by the test robot, and contact time of the test robot with the impacted body.

[0015] Preferably, the test robot can be formed with a manipulator having one or more degrees of freedom.

[0016] Preferably, the test robot comprises at least two link parts connected through a joint and at least one end effector connected to one of the link parts, and the injury-causing risk area may be one or more selected from among the link parts and the end effector.

[0017] Preferably, the step of calculating the physical quantity applied to the colliding body may further include the step of adjusting the angle of the joint of the test robot to change the posture of the link part or the end effector, and calculating the physical quantity applied to the colliding body by the injury-inducing risk part of the test robot according to the change in the posture.

[0018] Preferably, the step of calculating the physical quantity applied to the colliding body may be configured to calculate the physical quantity applied to the colliding body according to the area of ​​each part of the test robot, and set at least one of a part having the largest value among the calculated physical quantities, a part in which the calculated physical quantity exceeds a preset value, and a part selected by a user as the injury-inducing risk part of the test robot, thereby calculating the physical quantity applied to the colliding body at the selected injury-inducing risk part, thereby calculating the physical quantity corresponding to the shape of the test robot.

[0019] Preferably, the test robot is a three-dimensional image formed by inputting shape information of the robot into a simulation program or a three-dimensional model formed through a three-dimensional measurement sensor, and the simulation program may be a CAE program.

[0020] According to another aspect of the present invention, a safety evaluation method of a robot is implemented by a processor provided in a robot operating device connected to a test robot, the method comprising: a step of acquiring a three-dimensional image or a three-dimensional model of a test robot including shape information of an actual robot; a step of setting a movement time and a movement path of the test robot by inputting profile information including movement time information and movement path information of the test robot; a step of calculating a physical quantity applied to a collision target by considering at least one of a shape, an effective mass, a movement speed, and a direction of an injury-causing risk area of ​​the test robot; and a step of evaluating the safety of the test robot by determining whether the magnitude of the calculated physical quantity falls within a magnitude of a preset maximum physical quantity, wherein, in the step of calculating the physical quantity applied to the collision target, the processor calculates the physical quantity applied to the collision target at a single or multiple points in time, and when the magnitude of the physical quantity is greater than or equal to the magnitude of the maximum physical quantity, determines a magnitude of the physical quantity among at least one distinct operation of the test robot when the physical quantity is applied to the collision target by the test robot, the distinct operation in which the magnitude of the physical quantity is greater than or equal to the magnitude of the maximum physical quantity. The test robot may be configured to display to the user a motion parameter value or a range of motion parameters of the test robot in a segmentation operation in which the size of the physical quantity is greater than or equal to the maximum physical quantity among at least one segmentation operation of the test robot, and the size of the physical quantity generated by the segmentation operation is induced to be less than or equal to the preset maximum physical quantity.

[0021] A safety evaluation method of a robot according to another aspect of the present invention is a safety evaluation method of a robot implemented by a processor provided in a robot operating device connected to a test robot, the method comprising: a step of acquiring a three-dimensional image or a three-dimensional model of a test robot including shape information of an actual robot; a step of setting a movement time and a movement path of the test robot by inputting profile information including movement time information and movement path information of the test robot; a step of calculating a physical quantity applied to a collision target by considering at least one of a shape, an effective mass, a movement speed, and a direction of an injury-causing risk area of ​​the test robot; and a step of evaluating the safety of the test robot by determining whether the magnitude of the calculated physical quantity falls within a magnitude of a preset maximum physical quantity, wherein the processor, in the step of calculating the physical quantity applied to the collision target, calculates the physical quantity applied to the collision target at a single or multiple points in time, and when the magnitude of the physical quantity is greater than or equal to the magnitude of the maximum physical quantity, calculates at least one collision expected portion of the collision target set for at least one distinct operation of the test robot when the physical quantity is applied to the collision target by the test robot. The test robot may be configured to display to the user a collision expected area where the size of the physical quantity applied is greater than or equal to the maximum physical quantity, and may be configured to display to the user another collision expected area where the size of the physical quantity applied by the test robot is less than or equal to the maximum physical quantity, which is different from the collision expected area where the size of the physical quantity applied by the test robot is greater than or equal to the maximum physical quantity.

[0022] Preferably, the processor may be configured to calculate the magnitude of the physical quantity of at least one distinct operation of the test robot, and compare the calculated magnitude of the physical quantity of at least one distinct operation of the test robot with the magnitude of the maximum physical quantity.

[0023] Preferably, the physical quantity may include at least one of force, pressure, energy applied to the impacted body by the test robot, and contact time of the test robot with the impacted body.

[0024] Preferably, the step of calculating the physical quantity applied to the colliding body may further include the step of setting at least one collision prediction area for each of the division operations and calculating the physical quantity applied to the set collision prediction area.

[0025] Preferably, the test robot can be formed with a manipulator having one or more degrees of freedom.

[0026] Preferably, the test robot comprises at least two link parts connected through a joint and at least one end effector connected to one of the link parts, and the injury-causing risk area may be one or more selected from among the link parts and the end effector.

[0027] Preferably, the step of calculating the physical quantity applied to the colliding body may further include the step of adjusting the angle of the joint of the test robot to change the posture of the link part or the end effector, and calculating the physical quantity applied to the colliding body by the injury-inducing risk part of the test robot according to the change in the posture.

[0028] Preferably, the step of calculating the physical quantity applied to the colliding body may be configured to calculate the physical quantity applied to the colliding body according to the area of ​​each part of the test robot, and set at least one of a part having the largest value among the calculated physical quantities, a part in which the calculated physical quantity exceeds a preset value, and a part selected by a user as the injury-inducing risk part of the test robot, thereby calculating the physical quantity applied to the colliding body at the selected injury-inducing risk part, thereby calculating the physical quantity corresponding to the shape of the test robot.

[0029] Preferably, the test robot is a three-dimensional image formed by inputting shape information of the robot into a simulation program or a three-dimensional model formed through a three-dimensional measurement sensor, and the simulation program may be a CAE program.

[0030] According to an embodiment of the present invention, since a user can selectively manipulate a test robot's discriminatory behavior in which the physical quantity exceeds the maximum physical quantity, the test robot's behavior can be manipulated more precisely. Accordingly, a method for evaluating a robot's safety with improved safety assessment accuracy can be provided to the user, enabling the implementation of safer behavior during actual robot operation.

[0031] In addition, various additional effects can be achieved through various embodiments of the present invention. These various effects of the present invention will be described in detail in each embodiment, or descriptions of effects easily understandable to those skilled in the art will be omitted.

[0032] The following drawings attached to this specification illustrate preferred embodiments of the present invention and, together with the detailed description of the invention described below, serve to further understand the technical idea of ​​the present invention, and therefore, the present invention should not be interpreted as being limited to matters described in such drawings.

[0033] Figure 1 is a schematic diagram showing a state in which an actual robot and a colliding object collide.

[0034] Figure 2 is a drawing showing changes in the surface of a colliding body that collides with an actual robot in Figure 1.

[0035] Figure 3 is a drawing showing the three-dimensional shape of the test robot.

[0036] Figure 4 is a flowchart illustrating a safety evaluation method of a robot according to one embodiment of the present invention.

[0037] Fig. 5 is a drawing showing an example of an implementation of a safety evaluation method for the robot of Fig. 1.

[0038] FIG. 6 is a drawing exemplarily showing an implementation example of a safety evaluation method for a robot according to a second embodiment of the present invention.

[0039] FIG. 7 is a drawing exemplarily showing an implementation example of a safety evaluation method for a robot according to a third embodiment of the present invention.

[0040] FIG. 8 is a drawing exemplarily showing an implementation example of a safety evaluation method for a robot according to the fourth embodiment of the present invention.

[0041] FIG. 9 is a drawing exemplarily showing an implementation example of a safety evaluation method for a robot according to the fifth embodiment of the present invention.

[0042] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. Prior to this, it should be noted that the terms and words used in this specification and claims should not be construed as limited to their conventional or dictionary meanings. Based on the principle that the inventor can appropriately define the concepts of terms to best explain his or her invention, they should be interpreted in a way that aligns with the technical spirit of the present invention.

[0043] Accordingly, the embodiments described in this specification and the configurations illustrated in the drawings are merely the most preferred embodiments of the present invention and do not represent all of the technical ideas of the present invention, and it should be understood that there may be various equivalents and modified examples that can replace them at the time of this application.

[0044] Fig. 1 is a drawing schematically showing a state in which an actual robot (R) and a colliding body (20) collide, Fig. 2 is a drawing showing changes in the surface of the colliding body (20) colliding with the actual robot (R) in Fig. 1, and Fig. 3 is a drawing showing a three-dimensional shape of a test robot (10).

[0045] In addition, FIG. 4 is a flowchart showing a safety evaluation method of a robot according to one embodiment of the present invention, and FIG. 5 is a drawing showing an exemplary implementation example of the safety evaluation method of the robot of FIG. 1.

[0046] Referring to FIGS. 1 to 5, a method for evaluating the safety of a robot according to an embodiment of the present invention can be implemented by a processor (30) provided in a robot operating device connected to a test robot (10). At this time, the method for evaluating the safety of the robot includes steps S101 to S104 below. As an example, the processor (30) can be implemented in the form of a CPU, GPU, AP, or a combination thereof having an arithmetic processing function, and can be provided with DRAM, flash memory, SSD, or other various types of memory as needed.

[0047] In the above step S101, a 3D image or a 3D model of a test robot (10) including shape information of an actual robot (R) is acquired. Specifically, the test robot (10) may be formed as a 3D image formed by inputting shape information of the robot into a simulation program or as a 3D model formed through a 3D measurement sensor. That is, the test robot (10) may be formed as a 3D image formed by inputting shape information of an actual robot (R) into a simulation program such as a CAE (Computer Aided Engineering) program, or as a 3D model implemented through a 3D measurement sensor and driven and controlled in the same manner as an actual robot (R).

[0048] At this time, the type of actual robot (R) being 3D modeled is not limited, but may be a collaborative robot that jointly processes work in a certain work space. Such a collaborative robot may be formed as a manipulator equipped with a mechanical hand at the tip to grasp and transport a specific object or to perform a specific task. In addition, the test robot (10) may be formed to have a degree of freedom that allows movement in at least one direction among the X-axis direction, the Y-axis direction, the Z-axis direction, the pitch direction, the yaw direction, and the roll direction. That is, the test robot (10) may be formed as a manipulator having at least one degree of freedom.

[0049] Specifically, the test robot (10) may include at least two link parts (12) connected through joints (11), and an end effector (13) connected to one of the link parts (12). Here, the end effector (13) is a part that has a function of directly acting on a work target when the test robot (10) performs a work, and may be, for example, a mechanical hand of a manipulator.

[0050] In the above step S102, profile information including movement time information and movement path information of the test robot (10) is input to set the movement time and movement path of the test robot (10).

[0051] For example, when the test robot (10) is a three-dimensional image, the movement time and movement path of the test robot (10) can be set by inputting profile information including movement time information and movement path information into the simulation program. In addition, when the test robot (10) is a three-dimensional model, the movement time and movement path of the test robot (10) are set by inputting profile information including movement time information and movement path information into the control system of the test robot (10). Here, the method of controlling the operation of the test robot (10) through the simulation program and the control system of the robot is already a known technology, so it will be omitted.

[0052] In the above step S103, the physical quantity applied to the impacted body (20) is calculated by considering at least one of the shape, effective mass, moving speed, and direction of the injury-causing risk area of ​​the test robot (10). At this time, the physical quantity may include at least one of the force, pressure, energy applied to the impacted body (20) by the test robot (10), and the contact time of the test robot (10) with the impacted body (20).

[0053] Specifically, the collision force (Fc) applied to the colliding body (20) can be implemented through the following mathematical expression 1. Here, the colliding body (20) can be a human, and the effective mass (Mi) for the collision site of the test robot (10) is calculated by the kinematic theory, and the effective mass (Mh) for the collision site of the colliding body (20) can be input by the user and determined in advance. The displacement (yi) of the collision site of the test robot (10) and the displacement (yh) of the collision site of the colliding body (20) can be obtained through the CAE system.

[0054] [Mathematical Formula 1]

[0055]

[0056] At this time, in the above mathematical expression 1, Mi is the effective mass for the collision site of the test robot (10), Mh is the effective mass for the collision site of the collided body (20), Fc is the collision force, yi is the displacement of the collision site of the test robot (10), and yh may be the displacement of the collision site of the collided body (20).

[0057] And, the collision pressure (P) applied to the impacted body (20) can be implemented through the following mathematical equation 2. Here, the skin elasticity (K) of the impacted body (20) and the skin thickness (h) of the impacted body (20) can be input by the user through the CAE system and stored in advance.

[0058] [Equation 2]

[0059]

[0060] At this time, δ is the skin deformation amount of the colliding body (20), α is the collision angle between the test robot and the colliding body, Fc is the collision force, p is the collision pressure, K is the skin elasticity of the colliding body, h is the skin thickness of the colliding body, and x and y may be the collision surface coordinate system.

[0061] At this time, the processor (30) may be configured to calculate a physical quantity applied to the impacted body (20) at a single or multiple points in time in the step S103.

[0062] In addition, the above step S103 may further include a step of setting a risk area of ​​injury of the test robot (10).

[0063] In the step of setting the risk of injury-causing area of ​​the above test robot (10), the physical quantity (e.g., contact pressure) applied to the impacted body (20) is calculated according to the area of ​​each area of ​​the test robot (10), and at least one risk of injury-causing area of ​​the test robot (10) can be set using the calculated physical quantity value.

[0064] For example, if the test robot (10) is formed in a cylindrical shape, each part of the test robot (10) for setting the risk of injury may be a circumferential surface, an upper surface, a lower surface, an upper corner, and a lower corner. Then, the contact pressure applied to the impacted body (20) is calculated according to the area of ​​each part. Here, the method for calculating the contact pressure can be calculated through the relationship P=F / A (P: pressure, F: force, A: area).

[0065] Through this process, when physical quantities (e.g., contact pressure) for each part of the test robot (10) are calculated, the part with the largest value among the physical quantities or the part where the physical quantity exceeds a preset value can be selected as a part at risk of causing injury.

[0066] Meanwhile, the risk of injury-causing parts of the test robot (10) may be determined by one or more selections made by the user. Specifically, the risk of injury-causing parts of the test robot (10) may be one or more selected from among the link portion (12) and the end effector (13). In this way, if the risk of injury-causing parts of the test robot (10) are preset by the user, the step of setting the risk of injury-causing parts of the test robot (10) may be omitted.

[0067] That is, in the embodiment of the present invention, in the step S103, the physical quantity applied to the impacted body (20) is calculated according to the area of ​​each part of the test robot (10), and at least one of the part having the largest value among the calculated physical quantities, the part where the calculated physical quantity exceeds a preset value, and the part selected by the user is set as a part at risk of causing injury to the test robot (10), and the physical quantity applied to the impacted body (20) at the selected part at risk of causing injury is calculated, thereby calculating a physical quantity corresponding to the shape of the test robot (10).

[0068] In the above step S104, the safety of the test robot (10) is evaluated by determining whether the size of the calculated physical quantity falls within the size of the preset maximum physical quantity.

[0069] If the magnitude of the physical quantity applied to the impacted object (20) in step S104 is within the preset maximum physical quantity, the test robot is determined to be safe. Conversely, if the magnitude of the physical quantity is greater than the maximum physical quantity, the test robot is determined to be unsafe.

[0070] In one embodiment, in step S104, if the size of the physical quantity is greater than or equal to the maximum physical quantity, the moving speed of the test robot (10) can be controlled so that the physical quantity applied to the collided body (20) becomes less than the size of the maximum physical quantity. This is because when the moving speed of the test robot (10) is reduced, the force applied to the collided body (20) is reduced. As the force applied to the collided body (20) is reduced in this way, the pressure is also reduced. Therefore, by appropriately controlling the moving speed of the test robot (10), it becomes possible to implement a robot (R) that does not cause injury to the human body while running at the maximum speed.

[0071] In addition, in the above step S104, the size of the preset maximum physical quantity may be a size according to the International Organization for Standardization (ISO), more specifically, TS 15066. Since TS 15066 of the International Organization for Standardization (ISO) discloses the maximum allowable pressure and force that each part of the human body can withstand, setting the size of the maximum physical quantity based on this can further improve the safety of the robot (R).

[0072] Meanwhile, the above step S103 may further include a step of calculating a physical quantity applied to the colliding body according to a change in the posture of the test robot (10).

[0073] The step of calculating the physical quantity applied to the impacted body (20) according to the change in posture of the test robot (10) is to change the posture of the link part (12) or the end effector (13) by adjusting the angle of the joint (11) of the test robot (10), and calculate the physical quantity applied to the impacted body (20) by the part at risk of causing injury according to the change in posture.

[0074] The reason for calculating the physical quantity applied to the colliding body (20) by changing the posture of the test robot (10) in this way is that the distance and contact area with the colliding body (20) change depending on the change in posture of the link part (12) or the end effector (13). In addition, if the distance and contact area with the colliding body (20) change, the magnitude of the physical quantity applied to the colliding body (20) also changes.

[0075] Therefore, by obtaining the size of the physical quantity applied to the colliding body (20) according to the change in posture, it becomes possible to implement a posture in which the minimum impact is applied to the colliding body (20) even if the robot (R) moves along the same movement speed and movement path.

[0076] As described above, the safety evaluation method of a robot can be obtained by simulating the size of the physical quantity applied to the colliding body (20) by the test robot (10). Since this test robot (10) is formed as a three-dimensional model robot or a three-dimensional image robot having a shape and driving motion similar to an actual robot, there is no need to have a separate device for obtaining collision pressure, collision force, movement speed, etc. applied to the actual robot (R) as in the past, so that a safety evaluation can be performed at a low cost.

[0077] In addition, by calculating the physical quantity applied to the impacted body (20) according to the area of ​​each part of the test robot (10), the injury-causing risk part is selected, and the physical quantity applied to the impacted body (20) at the selected injury-causing risk part is calculated, so that the physical quantity corresponding to the shape of the test robot (10) can be obtained. That is, in the past, the physical quantity applied to the impacted body (20) was calculated by constantly applying the physical quantity regardless of the shape of the robot, so there was a disadvantage in that the accuracy of the calculated value was low. However, by calculating the physical quantity applied to the impacted body (20) according to the area of ​​each part of the test robot (10) as in the present invention and selecting the injury-causing risk part through this value, the physical quantity corresponding to the shape of the impact part of the test robot (10) can be obtained, so that the accuracy can be improved.

[0078] In addition, by changing the posture of the test robot (10) and obtaining physical quantities, it becomes possible to implement a posture that applies the minimum impact to the colliding object (20). Accordingly, when the test robot (10) moves through the implemented posture, it can move at the maximum speed while moving along the same movement path.

[0079] Referring again to Figures 1 to 5, the process of the robot safety evaluation method is explained as follows.

[0080] First, the user inputs shape information of an actual robot (R) into a simulation program to obtain a 3D image test robot, or obtains a 3D model test robot through a 3D measurement sensor. Here, the test robot (10) may be configured as a manipulator capable of moving in one of the X-axis direction, the Y-axis direction, the Z-axis direction, the pitch direction, the yaw direction, and the roll direction. That is, the test robot (10) may be a manipulator having one or more degrees of freedom. Then, profile information including movement time information and movement path information is input into the simulation program or the test robot system to set the movement time and movement path of the test robot (10). Accordingly, the test robot (10) performs a simulation in which it moves along a set movement path for a certain period of time.

[0081] And, according to the shape of each part of the test robot (10), the physical quantity applied to the colliding body (20) is calculated, and at least one injury-inducing risk part of the test robot (10) is set using the calculated physical quantity value. This is because the size of the physical quantity applied to the colliding body (20) varies depending on the shape of each part of the test robot. Here, the injury-inducing risk part can be either the part having the largest value among the calculated physical quantities or the part where the physical quantity exceeds a preset value.

[0082] When the risk area of ​​injury of the test robot (10) is set in this way, the physical quantity applied to the impacted body (20) is calculated by considering at least one of the shape, effective mass, moving speed, and direction of the risk area of ​​injury of the test robot (10).

[0083] Once the size of the physical quantity is determined, it is determined whether the determined size falls within the size of the preset maximum physical quantity. In other words, if the size of the physical quantity falls within the size of the preset maximum physical quantity, the robot is determined to be safe. Conversely, if the size of the physical quantity is greater than the maximum physical quantity, the robot is determined to be unsafe. Here, the size of the preset maximum physical quantity can be determined according to the International Organization for Standardization (ISO) standards.

[0084] In one embodiment, the processor (30) may be configured to display to the user, when a physical quantity is applied to a collision target (20) by the test robot (10), at least one distinct operation of the test robot (10) in which the magnitude of the physical quantity is greater than or equal to the magnitude of the maximum physical quantity.

[0085] At this time, when a physical quantity is applied to a collision target (20) by the test robot (10), at least one of the distinct operations of the test robot (10) can be displayed to the user through an output unit (40) provided in the robot operating device connected to the test robot (10), a distinct operation in which the size of the physical quantity is greater than or equal to the size of the maximum physical quantity.

[0086] At this time, the processor (30) may be configured to calculate the size of the physical quantity of at least one distinct operation of the test robot (10). And, the processor (30) may be configured to compare the size of the physical quantity of at least one distinct operation of the test robot (10) calculated with the size of the maximum physical quantity.

[0087] That is, the processor (30) can calculate the size of the physical quantity for each distinct operation according to the change in the posture of the test robot (10), thereby allowing the user to easily determine which operation exceeds the size of the maximum physical quantity. In addition, the processor (30) can be configured to compare the size of the physical quantity of at least one distinct operation of the test robot (10) calculated with the size of the maximum physical quantity, and to display to the user a distinct operation that exceeds the maximum physical quantity.

[0088] That is, the processor (30) can be configured to selectively display, through the output unit (40), a distinction operation in which the size of a physical quantity is greater than or equal to the size of the maximum physical quantity among at least one distinction operation of the test robot (10) so that the user can operate it.

[0089] For example, at least one distinct motion of the test robot (10) may refer to a distinct motion that occurs when the posture of the link part (12) and the end effector (13) of the test robot (10), which is a manipulator, changes as the angle of the joint (11) is adjusted, as shown in FIG. 5. This distinct motion may include, for example, N distinct motions, as shown in FIG. 5. In addition, a series of distinct motions may be continuous motions, but are not limited thereto. For example, motion 1 may be a motion in which the test robot (10) vertically rises from the ground as the angle of the joint (11) is adjusted. In addition, motion 2 may be a motion in which the test robot (10) changes direction toward the impacted object (20) as the angle of the joint (11) is adjusted. And, operation 3 may be an operation in which the end effector (13) of the test robot (10) approaches the impacted body (20) as the angle of the joint (11) is adjusted. In addition, operation N may be an operation in which the test robot (10) collides with the impacted body (20).

[0090] According to this embodiment of the present invention, since the user can selectively operate the classification operation of the test robot (10) in which the size of the physical quantity is greater than the size of the maximum physical quantity, the operation of the test robot (10) can be operated more precisely. Accordingly, a method for evaluating the safety of a robot with improved accuracy of the safety evaluation can be provided to the user so that a safer operation can be implemented when the robot is actually driven.

[0091] FIG. 6 is a drawing exemplarily showing an implementation example of a safety evaluation method for a robot according to a second embodiment of the present invention.

[0092] Since the safety evaluation method of a robot according to this embodiment is similar to the safety evaluation method of a robot according to the previous embodiment, duplicate explanations of components that are substantially the same or similar to those of the previous embodiment will be omitted, and the following will focus on differences from the previous embodiment.

[0093] Referring to FIG. 6, in the safety evaluation method of a robot according to the second embodiment of the present invention, the processor (30) may be configured to display to the user, when the size of the physical quantity is greater than or equal to the maximum physical quantity, at least one of the distinct operations of the test robot (10) when the physical quantity is applied to the impacted body (20) by the test robot (10), a distinct operation in which the size of the physical quantity is greater than or equal to the maximum physical quantity.

[0094] In addition, in the safety evaluation method of a robot according to the second embodiment of the present invention, the processor (30) may be configured to display to the user, for at least one of the classification operations of the test robot (10), the size of the physical quantity is greater than or equal to the maximum physical quantity, a speed value of the test robot (10) or an operation time of the test robot (10) in the classification operation that induces the size of the physical quantity generated by the corresponding classification operation to be less than or equal to the preset maximum physical quantity.

[0095] For example, as in (a) of FIG. 6, when the size of the physical quantity in 'Operation 3' among the distinct operations of the test robot (10) is determined to be greater than or equal to the size of the maximum physical quantity, the processor (30) may be configured to display to the user, through the output unit (40), a speed value of the test robot (10) that induces the size of the physical quantity generated by 'Operation 3' to be less than or equal to the size of the preset maximum physical quantity, as 0.8 m / s.

[0096] In addition, the processor (30), as in (b) of FIG. 6, when it is determined that the size of the physical quantity in 'Operation 3' among the distinct operations of the test robot (10) is greater than or equal to the size of the maximum physical quantity, may be configured to display to the user, through the output unit (40), the operation time of the test robot (10) that causes the size of the physical quantity generated by 'Operation 3' to be less than or equal to the size of the preset maximum physical quantity, as 1.3 seconds.

[0097] In one embodiment, the processor (30) may be configured to display to the user, when it is determined that the size of any one of the 'series of segmentation operations of the test robot (10)' is greater than or equal to the size of the maximum physical quantity, the speed value of the test robot (10) or the operation time of the test robot (10) in the 'series of segmentation operations' that induces the size of the physical quantity generated by the 'series of segmentation operations' to be less than or equal to the preset maximum physical quantity, and to display to the user, the speed value of the test robot (10) or the operation time of the test robot (10) in the 'next segmentation operation' that induces the size of the physical quantity generated by the 'next segmentation operation' predicted for the next segmentation operation consecutive to the series of segmentation operations to be reduced within a predetermined range.

[0098] For example, if the processor (30) determines that the size of the physical quantity of 'Operation 1', which is an operation in which the test robot (10) rises vertically from the ground as the angle of the joint (11) is adjusted among a series of distinct operations of the test robot (10), is greater than or equal to the maximum physical quantity, the processor (30) may be configured to display to the user, through the output unit (40), a speed value or operation time of the test robot (10) that induces the size of the physical quantity generated by 'Operation 1' to be less than or equal to the preset maximum physical quantity. In addition, the processor (30) may be configured to display to the user, through the output unit (40), a speed value or operation time of the test robot (10) in 'Operation 2' that induces the size of the physical quantity generated by the previously predicted 'Operation 2' to be reduced within a predetermined range for the next distinct operation consecutive to 'Operation 1'.

[0099] Accordingly, in the present invention, when it is determined that any one of a series of continuous segmentation movements of the test robot (10) exceeds the size of a preset maximum physical quantity, the size of the physical quantity is reduced not only for the segmentation movement but also for the next movement consecutive to the segmentation movement, thereby enabling the implementation of a safer operation when the actual robot is driven.

[0100] Meanwhile, in the case of the above-described implementation configuration, the same can be applied not only to operation 1, but also to operation 2, operation 3, and operation N.

[0101] FIG. 7 is a drawing exemplarily showing an implementation example of a safety evaluation method for a robot according to a third embodiment of the present invention.

[0102] Since the safety evaluation method of a robot according to this embodiment is similar to the safety evaluation method of a robot according to the previous embodiment, duplicate explanations of components that are substantially the same or similar to those of the previous embodiment will be omitted, and the following will focus on differences from the previous embodiment.

[0103] Referring to FIG. 7, in the safety evaluation method of a robot according to the third embodiment of the present invention, the processor (30) may be configured to display to the user, when the size of the physical quantity is less than the size of the maximum physical quantity, at least one of the distinct operations of the test robot (10) when the physical quantity is applied to the collision target (20) by the test robot (10), a distinct operation in which the size of the physical quantity is less than the size of the maximum physical quantity.

[0104] This is to enable the implementation of a safer operation when the actual robot is driven by displaying to the user a distinction operation in which the size of the physical quantity is greater than the size of the maximum physical quantity among at least one distinction operation of the test robot (10), as in the previous embodiment, while ensuring reliability of robot driving by securing a minimum driving force for each distinction operation.

[0105] At this time, the processor (30) may be configured to display to the user, for at least one of the classification operations of the test robot (10), a speed value of the test robot (10) or an operation time of the test robot (10) in a classification operation in which the size of the physical quantity is less than the size of the maximum physical quantity, the size of the physical quantity generated by the corresponding classification operation being the size of the preset maximum physical quantity.

[0106] For example, as in (a) of FIG. 7, when the processor (30) determines that the size of the physical quantity in 'Operation 1', 'Operation 2', and 'Operation N' among the distinct operations of the test robot (10) is less than the size of the maximum physical quantity, the speed values ​​of the test robot (10) that induce the sizes of the physical quantities generated by 'Operation 1', 'Operation 2', and 'Operation N' to become the size of the preset maximum physical quantity may be displayed to the user through the output unit (40) as 1.1 m / s, 1.3 m / s, and 1.3 m / s, respectively.

[0107] At this time, the processor (30), as in (a) of FIG. 7, when it is determined that the size of the physical quantity in 'Operation 3' among the distinct operations of the test robot (10) is greater than or equal to the size of the maximum physical quantity, may be configured to display to the user, through the output unit (40), a speed value of the test robot (10) that induces the size of the physical quantity generated by 'Operation 3' to be less than or equal to the size of the preset maximum physical quantity, as 0.8 m / s.

[0108] In addition, as in (b) of FIG. 7, when the processor (30) determines that the size of the physical quantity in 'Operation 1', 'Operation 2', and 'Operation N' among the distinct operations of the test robot (10) is less than the size of the maximum physical quantity, the operation times of the test robot (10) that induce the size of the physical quantity generated by 'Operation 1', 'Operation 2', and 'Operation N' to become the size of the preset maximum physical quantity may be displayed to the user through the output unit (40) as 0.8 seconds, 0.7 seconds, and 0.3 seconds, respectively.

[0109] At this time, the processor (30), as in (b) of FIG. 7, when it is determined that the size of the physical quantity in 'Operation 3' among the distinct operations of the test robot (10) is greater than or equal to the size of the maximum physical quantity, may be configured to display to the user, through the output unit (40), the operation time of the test robot (10) that causes the size of the physical quantity generated by 'Operation 3' to be less than or equal to the size of the preset maximum physical quantity, as 1.3 seconds.

[0110] That is, in this embodiment, the processor (30) can induce the user to operate not only the differentiation operation in which the size of the physical quantity is greater than or equal to the maximum physical quantity among at least one differentiation operation of the test robot (10), but also the differentiation operation in which the size of the physical quantity is less than or equal to the maximum physical quantity, thereby ensuring not only safety but also reliability during actual robot operation.

[0111] FIG. 8 is a drawing exemplarily showing an implementation example of a safety evaluation method for a robot according to the fourth embodiment of the present invention.

[0112] Referring to FIGS. 1 to 4 and 8, a safety evaluation method of a robot according to a fourth embodiment of the present invention can be implemented by a processor (30) provided in a robot operating device connected to a test robot (10). In this case, the safety evaluation method of the robot includes the following steps S101 to S104.

[0113] According to this embodiment of the present invention, since the user can selectively operate the classification operation of the test robot (10) in which the size of the physical quantity is greater than the size of the maximum physical quantity, the operation of the test robot (10) can be operated more precisely. Accordingly, a method for evaluating the safety of a robot with improved accuracy of the safety evaluation can be provided to the user so that a safer operation can be implemented when the robot is actually driven.

[0114] In particular, in the safety evaluation method of a robot according to the present invention, the processor (30) may be configured to display to the user, for at least one of the distinguishing operations of the test robot (10), a motion parameter value or a range of motion parameters of the test robot (10) in a distinguishing operation in which the size of the physical quantity is greater than or equal to the maximum physical quantity, the size of the physical quantity generated by the distinguishing operation being less than or equal to the preset maximum physical quantity. At this time, the motion parameter may include at least one of a coordinate value at a way point of the distinguishing operation of the test robot (10) and a turning radius of the test robot (10) in the distinguishing operation of the test robot (10).

[0115] For example, as in FIG. 8, when the size of the physical quantity in 'Operation 3' among the distinct operations of the test robot (10) is determined to be greater than or equal to the size of the maximum physical quantity, the processor (30) may be configured to display the coordinate values ​​of the test robot (10) in 'Operation 3', which induces the size of the physical quantity generated by 'Operation 3' to be less than or equal to the size of the preset maximum physical quantity, to the user as (1,1,3,1,1,1) through the output unit (40). At this time, in FIG. 8, tx, ty, and tz may mean a parallel coordinate system, and rx, ry, and rz may mean a rotational coordinate system.

[0116] That is, in the safety evaluation method of a robot according to an embodiment of the present invention, the motion parameter values ​​or the range of motion parameters in the three-dimensional coordinate system of each distinct operation of the test robot (10) can be adjusted according to the size of the physical quantity calculated in each distinct operation, thereby inducing more precise and stable operation of the robot.

[0117] In an embodiment, the processor (30) may be configured to display to the user, when it is determined that the size of any one of the 'series of segmentation operations of the test robot (10)' is greater than or equal to the maximum physical quantity, the coordinate values ​​of the test robot (10) in the 'series of segmentation operations' that induce the size of the physical quantity generated by the 'series of segmentation operations' to be less than or equal to the preset maximum physical quantity, and to display to the user, the coordinate values ​​of the test robot (10) in the 'next segmentation operation' that induces the size of the physical quantity generated by the 'next segmentation operation' predicted for the next segmentation operation consecutive to the series of segmentation operations to be reduced within a predetermined range.

[0118] For example, if the processor (30) determines that the size of the physical quantity of 'Operation 1', which is an operation in which the test robot (10) rises vertically from the ground as the angle of the joint (11) is adjusted among a series of distinct operations of the test robot (10), is greater than or equal to the maximum physical quantity, the processor (30) may be configured to display to the user, through the output unit (40), the coordinate values ​​of the test robot (10) that induce the size of the physical quantity generated by 'Operation 1' to be less than or equal to the preset maximum physical quantity. In addition, the processor (30) may be configured to display to the user, through the output unit (40), the coordinate values ​​of the test robot (10) in 'Operation 2' that induces the size of the physical quantity generated by the previously predicted 'Operation 2' to be reduced within a predetermined range for 'Operation 2', which is the next distinct operation consecutive to 'Operation 1'.

[0119] Accordingly, in the present invention, when it is determined that any one of a series of continuous segmentation movements of the test robot (10) exceeds the size of a preset maximum physical quantity, the size of the physical quantity is reduced not only for the segmentation movement but also for the next movement consecutive to the segmentation movement, thereby enabling the implementation of a safer operation when the actual robot is driven.

[0120] Meanwhile, in the case of the above-described implementation configuration, the same can be applied not only to operation 1, but also to operation 2, operation 3, and operation N.

[0121] FIG. 9 is a drawing exemplarily showing an implementation example of a safety evaluation method for a robot according to the fifth embodiment of the present invention.

[0122] Since the safety evaluation method of a robot according to this embodiment is similar to the safety evaluation method of a robot according to the previous embodiment, duplicate explanations of components that are substantially the same or similar to those of the previous embodiment will be omitted, and the following will focus on differences from the previous embodiment.

[0123] Referring to FIG. 9, in the safety evaluation method of a robot according to the fifth embodiment of the present invention, the processor (30) may be configured to display to the user, when the size of the physical quantity is greater than or equal to the maximum physical quantity, at least one collision expected portion of the collision target (20) set for at least one distinct operation of the test robot (10) when the physical quantity is applied to the collision target (20) by the test robot (10), a collision expected portion where the size of the applied physical quantity is greater than or equal to the maximum physical quantity.

[0124] This is to notify the user of an impact on the collided body (20) in a state where a physical quantity greater than or equal to the maximum physical quantity is applied to the actual collided body (20) by displaying to the user an impact predicted region of at least one collided body (20) set for each distinct operation of the test robot (10) by the operation of the test robot (10), and to induce an operation.

[0125] At this time, the processor (30) may be configured to display to the user another expected collision site where the size of the physical quantity applied by the test robot (10) is less than or equal to the maximum physical quantity, which is different from the expected collision site where the size of the physical quantity applied by the test robot (10) is greater than or equal to the maximum physical quantity.

[0126] Here, the step S103 may further include a step of setting at least one collision prediction area for each classification operation and calculating a physical quantity applied to the set collision prediction area.

[0127] For example, as shown in FIG. 9, the processor (30) may be configured to display to the user, through the output unit (40), an 'expected collision site (chest of the collided object (20)) set for operation 1', where the size of the physical quantity applied by the test robot (10) is greater than or equal to the maximum physical quantity, and another expected collision site, the 'lower arm of the collided object (20)', where the size of the physical quantity applied by the test robot (10) is less than or equal to the maximum physical quantity.

[0128] In addition, as in FIG. 9, for example, the processor (30) may be configured to display to the user, through the output unit (40), the 'collision expected site set for operation 2 (the head among the chest and head, which are the collision expected sites set for operation 2)', in which the size of the physical quantity applied by the test robot (10) is greater than or equal to the size of the maximum physical quantity, the 'chest of the collided object (20)', which is another collision expected site, in which the size of the physical quantity applied by the test robot (10) is less than or equal to the size of the maximum physical quantity.

[0129] That is, in the present embodiment, the processor (30) can induce the user to change the expected collision area of ​​the colliding body (20) so as to minimize the impact applied to the colliding body (20) in a situation where a physical quantity greater than the maximum physical quantity is applied to the colliding body (20). Accordingly, stability during actual robot operation can be more reliably secured.

[0130] As described above, although the present invention has been described by limited embodiments and drawings, the present invention is not limited thereto, and it is obvious that various modifications and variations are possible within the scope of the technical idea of ​​the present invention and the equivalent scope of the patent claims to be described below by a person having ordinary skill in the art to which the present invention pertains.

[0131] Meanwhile, although terms indicating directions such as up, down, left, right, front, and back are used in the present invention, it is obvious to those skilled in the art that these terms are only for convenience of explanation and may vary depending on the location of the target object or the location of the observer.

Claims

1. In a safety evaluation method of a robot implemented by a processor equipped in a robot operating device connected to a test robot, A step of acquiring a three-dimensional image or three-dimensional model of a test robot including shape information of an actual robot; A step of setting the movement time and movement path of the test robot by inputting profile information including movement time information and movement path information of the test robot; A step of calculating a physical quantity applied to a colliding body by considering at least one of the shape, effective mass, moving speed, and direction of the injury-causing risk area of ​​the test robot; and It includes a step of evaluating the safety of the test robot by determining whether the size of the above-mentioned calculated physical quantity falls within the size of the preset maximum physical quantity. The above processor, In the step of calculating the physical quantity applied to the colliding body, the physical quantity applied to the colliding body at a single or multiple points in time is calculated, A safety evaluation method for a robot, characterized in that when the size of the physical quantity is greater than or equal to the size of the maximum physical quantity, the test robot is configured to display to the user a distinguishing operation in which the size of the physical quantity is greater than or equal to the size of the maximum physical quantity among at least one distinguishing operation of the test robot when the physical quantity is applied to the colliding body by the test robot.

2. In a safety evaluation method of a robot implemented by a processor equipped in a robot operating device connected to a test robot, A step of acquiring a three-dimensional image or three-dimensional model of a test robot including shape information of an actual robot; A step of setting the movement time and movement path of the test robot by inputting profile information including movement time information and movement path information of the test robot; A step of calculating a physical quantity applied to a colliding body by considering at least one of the shape, effective mass, moving speed, and direction of the injury-causing risk area of ​​the test robot; and It includes a step of evaluating the safety of the test robot by determining whether the size of the above-mentioned calculated physical quantity falls within the size of the preset maximum physical quantity. The above processor, In the step of calculating the physical quantity applied to the colliding body, the physical quantity applied to the colliding body at a single or multiple points in time is calculated, When the size of the above physical quantity is greater than or equal to the size of the maximum physical quantity, it is configured to display to the user a distinction operation in which the size of the physical quantity is greater than or equal to the size of the maximum physical quantity among at least one distinction operation of the above test robot when the above physical quantity is applied to the above collision target by the above test robot. A safety evaluation method for a robot, characterized in that it is configured to display to a user the speed value of the test robot or the operation time of the test robot in a corresponding classification operation in which the size of the physical quantity generated by the corresponding classification operation is less than or equal to the preset maximum physical quantity, for at least one classification operation of the test robot in which the size of the physical quantity is greater than or equal to the maximum physical quantity.

3. In a safety evaluation method of a robot implemented by a processor equipped in a robot operating device connected to a test robot, A step of acquiring a three-dimensional image or three-dimensional model of a test robot including shape information of an actual robot; A step of setting the movement time and movement path of the test robot by inputting profile information including movement time information and movement path information of the test robot; A step of calculating a physical quantity applied to a colliding body by considering at least one of the shape, effective mass, moving speed, and direction of the injury-causing risk area of ​​the test robot; and It includes a step of evaluating the safety of the test robot by determining whether the size of the above-mentioned calculated physical quantity falls within the size of the preset maximum physical quantity. The above processor, In the step of calculating the physical quantity applied to the colliding body, the physical quantity applied to the colliding body at a single or multiple points in time is calculated, When the size of the physical quantity is less than the size of the maximum physical quantity, it is configured to display to the user a distinction operation in which the size of the physical quantity is less than the size of the maximum physical quantity among at least one distinction operation of the test robot when the physical quantity is applied to the collision target by the test robot. A safety evaluation method for a robot, characterized in that it is configured to display to a user a speed value of the test robot or an operation time of the test robot in a corresponding classification operation in which the size of the physical quantity generated by the corresponding classification operation becomes the size of a preset physical quantity, for at least one classification operation of the test robot in which the size of the physical quantity is less than the size of the maximum physical quantity.

4. In any one of paragraphs 1 to 3, The above processor, Calculate the magnitude of the physical quantity of at least one distinct motion of the test robot, A safety evaluation method for a robot, characterized in that it is configured to compare the size of the physical quantity of at least one of the above-described distinct movements of the test robot with the size of the maximum physical quantity.

5. In paragraph 4, The above physical quantity is, A safety evaluation method for a robot, characterized in that it includes at least one of force, pressure, energy applied to a collision target by the test robot and contact time of the test robot with the collision target.

6. In any one of paragraphs 1 to 3, The above test robot, A safety evaluation method for a robot characterized by being formed with a manipulator having one or more degrees of freedom.

7. In paragraph 6, The above test robot, At least two link parts connected through joints; and At least one end effector connected to one of the above linkages, The above-mentioned areas at risk of causing injury are: A safety evaluation method for a robot, characterized in that one or more of the above link portion and the above end effector are selected.

8. In paragraph 7, The step of calculating the physical quantity applied to the above-mentioned collision object is: A safety evaluation method for a robot, characterized in that it further includes a step of changing the posture of the link part or the end effector by adjusting the angle of the joint of the test robot, and calculating the physical quantity applied to the collision target by the injury-causing risk part of the test robot according to the change in the posture.

9. In paragraph 8, The step of calculating the physical quantity applied to the above-mentioned collision object is: A safety evaluation method for a robot, characterized in that the method comprises calculating a physical quantity applied to the colliding body according to the area of ​​each part of the test robot, setting at least one of a part having the largest value among the calculated physical quantities, a part in which the calculated physical quantity exceeds a preset value, and a part selected by a user as the injury-inducing risk part of the test robot, and calculating the physical quantity applied to the colliding body at the selected injury-inducing risk part, thereby calculating a physical quantity corresponding to the shape of the test robot.

10. In any one of paragraphs 1 to 3, The above test robot, A 3D image formed by inputting the shape information of the robot into a simulation program or a 3D model formed through a 3D measurement sensor, A method for evaluating the safety of a robot, characterized in that the above simulation program is a CAE program.

11. In a safety evaluation method of a robot implemented by a processor equipped in a robot operating device connected to a test robot, A step of acquiring a three-dimensional image or three-dimensional model of a test robot including shape information of an actual robot; A step of setting the movement time and movement path of the test robot by inputting profile information including movement time information and movement path information of the test robot; A step of calculating a physical quantity applied to a colliding body by considering at least one of the shape, effective mass, moving speed, and direction of the injury-causing risk area of ​​the test robot; and It includes a step of evaluating the safety of the test robot by determining whether the size of the above-mentioned calculated physical quantity falls within the size of the preset maximum physical quantity. The above processor, In the step of calculating the physical quantity applied to the colliding body, the physical quantity applied to the colliding body at a single or multiple points in time is calculated, When the size of the above physical quantity is greater than or equal to the size of the maximum physical quantity, it is configured to display to the user a distinction operation in which the size of the physical quantity is greater than or equal to the size of the maximum physical quantity among at least one distinction operation of the above test robot when the above physical quantity is applied to the above collision target by the above test robot. A safety evaluation method for a robot, characterized in that it is configured to display to a user a motion parameter value or a range of motion parameters of the test robot in a corresponding classification operation in which the size of the physical quantity is greater than or equal to the size of the maximum physical quantity among at least one classification operation of the test robot, and the size of the physical quantity generated by the corresponding classification operation is induced to be less than or equal to the size of the preset maximum physical quantity.

12. In a safety evaluation method of a robot implemented by a processor equipped in a robot operating device connected to a test robot, A step of acquiring a three-dimensional image or three-dimensional model of a test robot including shape information of an actual robot; A step of setting the movement time and movement path of the test robot by inputting profile information including movement time information and movement path information of the test robot; A step of calculating a physical quantity applied to a colliding body by considering at least one of the shape, effective mass, moving speed, and direction of the injury-causing risk area of ​​the test robot; and It includes a step of evaluating the safety of the test robot by determining whether the size of the above-mentioned calculated physical quantity falls within the size of the preset maximum physical quantity. The above processor, In the step of calculating the physical quantity applied to the colliding body, the physical quantity applied to the colliding body at a single or multiple points in time is calculated, When the size of the above physical quantity is greater than or equal to the size of the maximum physical quantity, it is configured to display to the user a collision expected portion of at least one collision expected portion of the colliding body set for at least one distinct operation of the test robot when the physical quantity is applied to the colliding body by the test robot, in which the size of the applied physical quantity is greater than or equal to the size of the maximum physical quantity. A safety evaluation method for a robot, characterized in that it is configured to display to a user a collision expected area where the size of the physical quantity applied by the test robot is different from a collision expected area where the size of the physical quantity applied by the test robot is greater than or equal to the size of the maximum physical quantity, and another collision expected area where the size of the physical quantity applied by the test robot is less than or equal to the size of the maximum physical quantity.

13. In paragraph 11 or 12, The above processor, Calculate the magnitude of the physical quantity of at least one distinct motion of the test robot, A safety evaluation method for a robot, characterized in that it is configured to compare the size of the physical quantity of at least one of the above-described distinct movements of the test robot with the size of the maximum physical quantity.

14. In paragraph 13, A safety evaluation method for a robot, characterized in that the physical quantity includes at least one of force, pressure, energy applied to the colliding body by the test robot, and contact time of the test robot with the colliding body.

15. In paragraph 12, The step of calculating the physical quantity applied to the above-mentioned collision object is: A safety evaluation method for a robot, characterized in that it further includes a step of setting at least one collision prediction area for each of the above-described classification operations and calculating a physical quantity applied to the set collision prediction area.

16. In paragraph 11 or 12, The above test robot, A safety evaluation method for a robot characterized by being formed with a manipulator having one or more degrees of freedom.

17. In paragraph 16, The above test robot, At least two link parts connected through joints; and At least one end effector connected to one of the above linkages, The above-mentioned areas at risk of causing injury are: A safety evaluation method for a robot, characterized in that one or more of the above link portion and the above end effector are selected.

18. In paragraph 17, The step of calculating the physical quantity applied to the above-mentioned collision object is: A safety evaluation method for a robot, characterized in that it further includes a step of changing the posture of the link part or the end effector by adjusting the angle of the joint of the test robot, and calculating the physical quantity applied to the collision target by the injury-causing risk part of the test robot according to the change in the posture.

19. In paragraph 18, The step of calculating the physical quantity applied to the above-mentioned collision object is: A safety evaluation method for a robot, characterized in that the method comprises calculating a physical quantity applied to the colliding body according to the area of ​​each part of the test robot, setting at least one of a part having the largest value among the calculated physical quantities, a part in which the calculated physical quantity exceeds a preset value, and a part selected by a user as the injury-inducing risk part of the test robot, and calculating the physical quantity applied to the colliding body at the selected injury-inducing risk part, thereby calculating a physical quantity corresponding to the shape of the test robot.

20. In paragraph 11 or 12, The above test robot, A 3D image formed by inputting the shape information of the robot into a simulation program or a 3D model formed through a 3D measurement sensor, A method for evaluating the safety of a robot, characterized in that the above simulation program is a CAE program.

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