Method of setting collision information for robot motion simulatiuon, and apparatus for performing the same

Abstract

The present invention relates to a method for setting collision information for a robot motion simulation and an apparatus for performing same, and the method comprises the steps of: acquiring, with respect to a work space of a robot, robot installation information, dangerous area information, and collision possible body part information for each dangerous area; setting, with respect to the robot, a check point for determining the risk of collision; and calculating coordinate information and shape information regarding the check point on the basis of at least a portion of the acquired information and the set check point.

Description

Method for setting collision information for robot motion simulation and device for performing the same

[0001] The present invention relates to a method for setting collision-related information, such as area information around a robot and tool information mounted on a robot, in order to simulate the operation of the robot.

[0002] A robot is a machine that automatically processes or operates a given task using its own abilities. The application fields of robots can be classified into industrial, service, medical, space, and underwater.

[0003] Among them, an industrial robot is applied to industrial automation, and refers to a robot that is automatically controlled and reprogrammable, a multipurpose manipulator that can be programmed in three or more axes, and that can be fixed or moved, and may include hand-guided robots, manipulator parts of mobile robots, and collaborative robots.

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

[0005] Industrial robot systems are already widely used in machine-processing industries such as automobile manufacturing to perform repetitive movements equivalent to those performed by human arms, and their use has been increasing recently due to factors such as rising labor costs.

[0006] However, there are cases where death or serious injury occurs due to unintended contact with workers during the operation of industrial robots, and safety requirements for industrial robot systems and working environments are being established accordingly.

[0007] Additionally, to ensure the safety of industrial robot systems and work environments, it is necessary to simulate the robot's movements before actual operation of the industrial robot to identify and reduce the possibility or risk of collision with workers or surrounding objects.

[0008] The technical problem to be solved by the present invention is to provide a method for easily setting collision information necessary for simulating the operation of a robot, and a device for performing the same.

[0009] A method for setting collision information for robot motion simulation according to an embodiment of the present invention for solving the above-described problem includes the steps of: obtaining robot installation information, risk area information, and collision-prone body part information for each risk area for a workspace of the robot; setting a check point for determining a collision risk for the robot; and calculating coordinate information and shape information for the check point based on at least a portion of the obtained information and the set check point.

[0010] The above robot is capable of power and force limiting (PFL) cooperative driving, and checkpoint information for the robot's main body may be stored in advance.

[0011] The above information generating step includes a step of generating shape information for the check point using information about surrounding points of the check point; and using the information about the surrounding points, a similarity for a plurality of representative shapes is generated, and the shape of the check point can be determined as one of the plurality of representative shapes based on the generated similarity.

[0012] At least some of the methods for setting collision information for the above robot motion simulation can be implemented as a computer-readable recording medium recording a program for execution on a computer, and can be provided as a program itself.

[0013] Meanwhile, the method for setting collision information for the above robot motion simulation can be performed by a device according to an embodiment of the present invention.

[0014] A robot motion simulation device according to an embodiment of the present invention is for simulating the motion of a robot capable of power and force limited (PFL) cooperative driving, and includes: an information acquisition module for acquiring robot installation information, risk area information, and collision-prone body part information for each risk area with respect to a workspace of the robot; a checkpoint setting module for setting a checkpoint for determining a collision risk with respect to the robot; and an information generation module for generating coordinate information and shape information for the checkpoint based on at least a portion of the acquired information and the set checkpoint.

[0015] According to an embodiment of the present invention, by calculating coordinate information and shape information for checkpoints based on robot installation information, risk area information, and collision-prone body part information for each risk area set for the robot's workspace, and checkpoints for determining collision risk set for the robot and tool, it is possible to easily set collision information for simulating the operation of a robot capable of power and force limited (PFL) cooperative driving.

[0016] In addition, according to another embodiment of the present invention, by simulating the operation of the robot according to the collision information set as described above, a method for determining the risk of a collision of the robot in advance and reducing the risk is provided, thereby preventing death or serious injury from occurring due to unintended contact with a worker during the operation of the robot.

[0017] FIG. 1 is a perspective view showing the configuration of a robot according to one embodiment of the present invention.

[0018] Figure 2 is a table showing an example of allowable limits in power and force limit (PFL) driving mode.

[0019] Figure 3 is a drawing showing an example of a screen provided by a robot motion simulator.

[0020] Figure 4 is a block diagram showing the configuration of a robot motion simulation device according to one embodiment of the present invention.

[0021] FIG. 5 is a flowchart illustrating a method for setting collision information for robot motion simulation according to one embodiment of the present invention.

[0022] FIGS. 6 to 15 are drawings for explaining embodiments of a method for setting area information for a workspace of a robot.

[0023] Figures 16 to 23 are drawings for explaining embodiments of a method for setting tool information for a checkpoint for determining collision risk.

[0024] The following merely exemplifies the principles of the present invention. Therefore, those skilled in the art will be able to implement the principles of the present invention and invent various devices within the scope and spirit of the present invention, even if not explicitly described or illustrated herein. Furthermore, all conditional terms and embodiments listed herein are expressly intended, in principle, to facilitate understanding of the present invention, and should be understood as being in no way limiting to the specifically enumerated embodiments and conditions.

[0025] Furthermore, all detailed descriptions of the principles, aspects, and embodiments of the present invention, as well as specific embodiments, should be understood to encompass structural and functional equivalents thereof. Furthermore, such equivalents should be understood to encompass not only currently known equivalents but also equivalents developed in the future, i.e., all devices invented to perform the same function, regardless of structure.

[0026] Thus, for example, the block diagrams herein should be understood as representing conceptual views of exemplary circuits embodying the principles of the present invention. Similarly, all flowcharts, state transition diagrams, pseudocode, and the like, which may be substantially represented on a computer-readable medium, should be understood as representing various processes performed by a computer or processor, regardless of whether a computer or processor is explicitly depicted.

[0027] The functions of various components depicted in the drawings, including functional blocks represented by processors or similar concepts, may be provided using dedicated hardware as well as hardware capable of executing software in conjunction with appropriate software. When provided by a processor, the functions may be provided by a single dedicated processor, a single shared processor, or multiple individual processors, some of which may be shared.

[0028] Furthermore, any explicit use of terms such as processor, controller, or similar concepts should not be construed as exclusively referring to hardware capable of executing software, but should be understood to implicitly include, without limitation, digital signal processor (DSP) hardware, read-only memory (ROM), random access memory (RAM), and non-volatile memory for storing software. Other commonly used hardware may also be included.

[0029] In the claims of this specification, a component expressed as a means for performing a function described in the detailed description is intended to include any method for performing the function, including, for example, a combination of circuit elements performing the function, or any form of software including firmware / microcode, combined with appropriate circuitry for executing said software to perform the function. The invention defined by these claims should be understood to be equivalent to any means found in this specification for providing the functions provided by the various enumerated means, as long as they are combined and combined in the manner required by the claims.

[0030] The above-described purposes, features, and advantages will become more apparent through the following detailed description, taken in conjunction with the accompanying drawings. Accordingly, those skilled in the art will be able to readily implement the technical concepts of the present invention. Furthermore, in describing the present invention, detailed descriptions of known technologies related to the present invention will be omitted if they are deemed to unnecessarily obscure the gist of the invention.

[0031] Hereinafter, embodiments of the present invention will be described using a collaborative robot as an example, but the present invention is not limited thereto and can be applied to various robots including industrial robots.

[0032] A collaborative robot is a robot designed to interact directly with humans within a defined collaborative workspace, while collaborative operation can refer to the working state of a robot system and operator intentionally designed within a collaborative workspace.

[0033] Additionally, a collaborative workspace is a work area within a safeguarded space where robots and humans perform work simultaneously during production operations. It can mean an area within a work area where a robot system (including workpieces) and humans can perform work simultaneously during production operations.

[0034] FIG. 1 illustrates the configuration of a robot according to one embodiment of the present invention. The robot (100) may be configured to include a base (Base, 110), a plurality of joints (120 to 128), and a tool flange (Tool Flange, 150).

[0035] Referring to FIG. 1, the base (110) is a part for fixing the robot (100), and a cable connection connector between the robot (100) and the control box can be formed on the base (110).

[0036] The tool flange (150) is a part for mounting a gripper or tool on the robot (100), and input / output ports for controlling the gripper or tool and buttons for direct teaching can be arranged at locations adjacent to the tool flange (150).

[0037] Meanwhile, between the base (110) and the tool flange (150), a base joint (120), a shoulder joint (122), an elbow joint (124), a first wrist joint (126), a second wrist joint (127), and a third wrist joint (128) are provided, so that six-axis joint motions of the robot (100) can be possible.

[0038] A robot (100) having a structure as described with reference to FIG. 1 is capable of cooperative operation, and the cooperative operation may include one or more of the following methods: safe monitored stop, hand guiding, speed and position monitoring, and power and force limiting (PFL).

[0039] In the safety rated monitored stop method, the safety rated monitored stop function is used to stop the robot's motion before the operator enters the collaborative work area to interact with the robot system and complete a task.

[0040] If there is no driver in the collaborative work area, the robot (100) operates non-cooperatively. When the robot system is present in the collaborative work area, the safety rating monitoring function is activated and the robot's movement has stopped, allowing the driver to enter the collaborative work area. Meanwhile, after the driver exits the collaborative work area, the robot system's movement can resume without further intervention.

[0041] In the hand-guiding method, the operator uses a hand-operated device to transmit motion commands to the robot system, and the robot (100) must complete a safety-rated guard stop before the operator is permitted to enter the collaborative work area and perform the hand-guiding task.

[0042] This task is performed by manually operating guiding devices located at or near the robot's end-effector, and the robot system used for hand guiding must have additional features such as force output, virtual safety zones or tracking technology.

[0043] In the speed and position monitoring method, the robot system and the driver are allowed to move simultaneously in the collaborative work area, and risk reduction can be achieved by maintaining a minimum protective separation distance between the driver and the robot (100).

[0044] In this case, while the robot (100) is in operation, the distance between the robot system and the operator should never be closer than the protective separation distance, and the robot system stops when the separation distance decreases to a value smaller than the protective separation distance. Meanwhile, when the operator moves away from the robot system, the robot system can automatically resume operation while maintaining the minimum protective separation distance, and when the robot system slows down, the protective separation distance can be decreased simultaneously.

[0045] In driving modes with power and force limited (PFL) methods, physical contact between the robot system (including the workpiece) and the operator can occur intentionally or unintentionally, and power and force limited collaborative driving requires a robot system designed for this specific type of driving.

[0046] In this case, the risk can be reduced by managing the risk sources associated with the robot system below the allowable limit determined in the risk assessment process through a robot or safety-rated control system that includes fundamental safety measures, and the allowable limit can be set to the maximum allowable pressure and maximum allowable force that each human body part can withstand.

[0047] For example, the allowable limits in the power and force limited (PFL) driving mode may be set to the maximum allowable pressure and maximum allowable force per body part defined in the international standard (ISO TS 15066) as shown in Fig. 2, but the present invention is not limited thereto and may be changed depending on the level of risk to be managed.

[0048] Meanwhile, during collaborative driving using the power and force limitations (PFL) described above, contact between a body part of the collaborative robot and the operator may occur as a contact situation intended as part of the work process, an incidental contact situation resulting from non-compliance with the work sequence, or a failure type that causes a contact situation.

[0049] And the possible contact between the moving parts of the robot system and the human body can be divided into quasi-static contact and transient contact.

[0050] Quasi-static contact is contact between an operator and a robotic system component that occurs between a moving part of the robotic system and a fixed or moving part of another robot, where a part of the operator's body may become clamped, and the robotic system may apply pressure and force to the clamped part of the body for a significant period of time before the situation is relieved.

[0051] Meanwhile, dynamic contact is a contact between an operator and a robot system part that occurs where the operator's body part is not clamped to the moving part of the robot system, but can move away from or in a way that causes the operator to shrink, and the actual contact may be brief and can be defined by the inertia of the robot, the inertia of the body part, and the relative velocity of the two.

[0052] The risk of potential contact between a robot and a driver as described above can be reduced by considering how possible contact between the driver and the robotic system does not result in injury to the driver.

[0053] For example, risk can be reduced by identifying the conditions under which contact occurs, assessing the potential risk of contact, designing the robot system and workspace so that contact occurs less frequently or can be avoided, and applying risk reduction measures to keep contact situations below thresholds.

[0054] Here, for risk assessment, it must be assumed that the driver is not protected from potential contact by risk reduction measures such as personal protective equipment, and criteria such as the driver's exposed body parts, the initiation of the contact event, the probability or frequency of occurrence, the type of contact event, the contact area, speed, force, pressure, momentum, mechanical power, energy, and other quantitative items that can characterize the physical contact event may be considered.

[0055] Meanwhile, in order to reduce the risk assessed as above, a passive method related to the mechanical design of the robot system or an active method related to the control design of the robot system can be performed.

[0056] For example, passive safety design measures may include increasing the contact surface area, absorbing energy, extending energy transfer time or reducing impact force, or limiting moving mass.

[0057] Specifically, circular edges and corners, smooth surfaces or flexible surfaces may be used to increase the contact surface area, or fillers, cushioning materials, deformable components, complex joints or links may be used to absorb energy, extend energy transfer time or reduce impact force.

[0058] Active safety design measures may include, but are not limited to, limiting forces and torques, limiting the speed of moving parts, limiting momentum as a function of mass and speed, limiting mechanical power or energy, utilizing safety-rated flexible axes and space limitation functions, utilizing safety-rated monitored stop functions, utilizing detection to anticipate or recognize contact, etc.

[0059] Meanwhile, if the risk is not sufficiently reduced by a combination of passive or active risk reduction methods as described above, other risk reduction methods, including firewalls or safety devices, may be required.

[0060] As described above, the robot system is designed so that the risk to the operator is reduced below the threshold value by not exceeding the applicable threshold value for quasi-static contact and dynamic contact determined by the risk assessment.

[0061] A robot with cooperative driving capabilities in power and force limiting (PFL) mode may include the ability to set allowable thresholds for force, torque, speed, momentum, mechanical power, axis range, or spatial range.

[0062] For example, eliminating hazards associated with dynamic contact may include speed limits for moving parts (robots, work tools, workpieces, etc.) and appropriate design of physical characteristics such as the surface area of ​​the moving parts that come into contact with the operator.

[0063] Additionally, risk reduction associated with quasi-static contacts may include speed limits and physical characteristics similar to those for dynamic contacts, in addition to design characteristics of components of the robotic system that have the potential to grab or press on the operator or part of the operator's body.

[0064] In the above, a robot (100) and a robot system according to an embodiment of the present invention have been described with reference to FIGS. 1 and 2, but the present invention is not limited thereto, and the present invention can be applied to various robots based on international standards related to robots and robot systems (ISO 10218-1, ISO 10218-2, ISO TS 15066, ISO 12100, ISO 13850, ISO 13855, IEC 60204-1).

[0065] According to the present invention, in order to ensure safety for the robot system and the working environment, a robot operation simulation can be performed to simulate the operation of the robot (100) to check the possibility or risk of collision with a worker or surrounding objects.

[0066] For example, in the case of a robot having a cooperative driving function in power and force limitation (PFL) mode, if robot-related information, information about the tool to be mounted, information about check points for collision areas, and information about the robot's operation are input, information about the expected force and pressure in the event of a collision during the robot's operation can be calculated and displayed in the simulator.

[0067] Figure 3 illustrates an example of a screen provided by a robot motion simulator. Using information about the area where the robot is installed and information about the tool mounted on the robot, the predicted collision force and pressure during robot motion are calculated and displayed in graphs on the left side of the screen, and the corresponding robot motion can be sequentially displayed on the right side of the screen.

[0068] Meanwhile, the Pressure Force Index (PFI) indicating the risk of robot operation is calculated based on the predicted collision force and pressure as above, and the calculated risk PFI can be displayed together on the graph on the left side of the screen, and if the PFI exceeds a limit value (e.g., 100), the risk assessment result can be displayed on the graph together with the corresponding robot operation.

[0069] Additionally, for the robot's operation in which the risk PFI exceeds the limit value as described above, the robot's operating speed (e.g., maximum operating speed) to reduce the PFI to below the limit value can be calculated and provided.

[0070] A simulator that performs the robot motion simulation as described above may be included in a robot or robot system and may store information related to the robot's motion in advance, or may exist outside the robot or robot system and receive information related to the robot's motion.

[0071] The robot motion simulator as described above may be implemented with software and / or hardware resources necessary to implement the technical idea of ​​the present invention, and does not necessarily mean a single physical component or a single device.

[0072] That is, the robot motion simulator may mean a logical combination of software and / or hardware provided to implement the technical idea of ​​the present invention, and, if necessary, may be implemented as a set of logical configurations for implementing the technical idea of ​​the present invention by installing them in devices spaced apart from each other and performing each function.

[0073] FIG. 4 is a block diagram illustrating the configuration of a robot motion simulation device according to an embodiment of the present invention. The illustrated robot motion simulation device (400) is a device for simulating the motion of a robot capable of power and force limited (PFL) cooperative driving.

[0074] Referring to FIG. 4, the robot motion simulation device (400) can be configured to include an information acquisition module (410), a checkpoint setting module (420), and an information output module (430).

[0075] The information acquisition module (410) acquires robot installation information, risk area information, and collision-prone body part information for each risk area regarding the robot's workspace.

[0076] For example, the information acquisition module (410) can acquire an image of the robot's workspace, set the scale of the acquired image, and set the installation angle and installation position of the robot.

[0077] Here, one or more risk areas are set on the acquired image, and a body part with a high probability of collision can be set for each of the set risk areas.

[0078] The checkpoint setting module (420) sets a checkpoint for determining the risk of collision for the robot.

[0079] For example, the checkpoint setting module (420) can acquire an image of a tool mounted on a robot and set the checkpoint on the acquired image.

[0080] Here, the checkpoint setting module (420) can calculate the similarity between a plurality of representative shapes using information about the surrounding points of the checkpoint, and determine the shape of the checkpoint as one of the plurality of representative shapes based on the calculated similarity.

[0081] The information production module (430) produces coordinate information and shape information for the check point based on at least some of the acquired information and the set check point.

[0082] As used herein, the term "module" may refer to a functional and structural combination of hardware for implementing the technical concepts of the present invention and software for operating the hardware. For example, a module may refer to a logical unit of a given piece of code and the hardware resources required to execute that code. It does not necessarily refer to physically connected code or a single type of hardware.

[0083] According to the embodiment of the present invention as described above, by calculating coordinate information and shape information for checkpoints based on robot installation information, risk area information, and collision-prone body part information for each risk area set for the robot's workspace, and checkpoints for determining collision risk set for the robot and tool, it is possible to easily set collision information for simulating the operation of a robot capable of power and force limited (PFL) cooperative driving.

[0084] FIG. 5 is a flowchart illustrating a collision information setting method for robot motion simulation according to one embodiment of the present invention, and will be described as an example of what is performed by a robot motion simulation device (400) as described with reference to FIG. 4.

[0085] The simulation device (400) obtains robot installation information, risk area information, and collision-prone body part information for each risk area for the robot's workspace (step S500).

[0086] In step S500, an image of the robot's workspace can be acquired, a scale of the acquired image can be set, and at least one of the robot's installation angle and installation position can be set.

[0087] In addition, one or more risk areas are set on the acquired image, and for each of the set risk areas, a body part corresponding to at least one of the skull and forehead, face, neck, back and shoulder, chest, abdomen, pelvis, upper arms and elbow joints, lower arms and wrist joints, hands and fingers, thighs and knees, and lower legs can be set.

[0088] Referring to FIGS. 6 to 15, embodiments of a method for setting area information for a robot's workspace in step S500 will be described in more detail.

[0089] Referring to FIG. 6, a 2D image representing the workspace of the robot may be input, but the present invention is not limited thereto, and a 3D image representing the workspace of the robot in three dimensions may also be input.

[0090] Referring to FIG. 7, a workspace (710) of a robot may be displayed on a screen of a simulation device (400), and a user interface (720 to 728) for setting area information for the workspace (710) may be provided.

[0091] As shown in Fig. 8, the user can select the “Scaling line” button (720) on the screen of the simulation device (400) and then use the scaling bar (730) to set the actual size of the workspace (710) displayed on the screen.

[0092] Next, the user can input the angle at which the robot is installed in the “Orignin rotation ang” input field (721) as shown in FIG. 9, select the “Robot orignin” button (722) as shown in FIG. 10, and then use the cursor (732) to set the position at which the robot is installed on the screen.

[0093] Then, when the user selects a body part that may collide in the "Collision par" selection window (723) as shown in FIG. 11, and then selects the "Rectangle" button (724) as shown in FIG. 12 and sets a risk area (734), a body part (hand, HAND) that may collide in the risk area (734) is displayed together with the risk area (734) on the screen.

[0094] Additionally, as illustrated in FIGS. 12 and 13, the user can set the risk areas (735, 736) and the collision-prone body parts for each of the risk areas (735, 736) using the method described above.

[0095] As described above, when the area information setting for the robot's workspace (400) is completed, the user can select the "Save Area info" button (727) as shown in FIG. 15 to save the set area information.

[0096] The simulation device (400) sets a check point for determining the risk of collision for the robot (step S510), and, based on at least some of the information acquired in step S500 and the check point set in step S510, calculates coordinate information and shape information for the check point (step S520).

[0097] In step S510, an image of a tool mounted on a robot is acquired, and checkpoints can be set on the acquired image.

[0098] Meanwhile, checkpoints for determining the risk of collision can be set in the main body of the robot rather than in the tool, and checkpoint information for the main body of the robot can already be stored in the simulation device (400).

[0099] Referring to FIGS. 16 to 23, embodiments of a method for setting a check point and calculating coordinate information and shape information for the check point will be described in more detail.

[0100] Referring to FIG. 16, a 3D image representing a tool mounted on a robot may be input, but the present invention is not limited thereto, and may also be a 2D image obtained by photographing a tool mounted on a robot.

[0101] Referring to FIG. 17, a tool (810) mounted on a robot may be displayed on the screen of the simulation device (400), and a user interface (812 to 815, 821 to 829) for setting a check point for the tool (810) may be provided.

[0102] In step S520, shape information about the checkpoint can be derived using information about the surrounding points of the checkpoint.

[0103] For example, similarity between multiple representative shapes can be calculated using information about surrounding points of a checkpoint, and the shape of the checkpoint can be determined as one of the multiple representative shapes based on the calculated similarity.

[0104] Here, the plurality of representative shapes may include at least one of a half sphere, a corner, a cylinder, and a flat, but the present invention is not limited thereto.

[0105] Meanwhile, using the shape information produced as described above, a normal vector for the check point can be produced.

[0106] For example, when setting a check point for a tool having a shape as shown in (a) of Fig. 18, the user can select a desired check point on a 3D image as shown in (b) of Fig. 18.

[0107] In this case, points located around the checkpoint selected by the user are set, and information about the surrounding points (e.g., location and vector information, etc.) is used to fit each of a plurality of representative shapes, so that the similarity with the representative shape can be calculated.

[0108] As illustrated in (c) of Fig. 18, a representative shape having the highest similarity among a plurality of representative shapes is determined, and information on the determined representative shape can be stored as shape information for the check point.

[0109] Here, the representative shape may be a half sphere, and the radius of the hemisphere with the highest similarity can be obtained as shape information for the check point using information about the surrounding points of the check point.

[0110] As illustrated in FIG. 19, when a user selects a check point (830) on a 3D image of a tool displayed on the screen of a simulation device (400), check point identification information is entered into a check point identification window (826), the location of the check point is automatically entered into a “Collision point xyz” display window (827), and a perpendicular vector to the check point can be automatically entered into a “Normal vector xyz” display window (828).

[0111] Additionally, according to the check point shape information calculated as described above, the radius of a hemisphere similar to the check point can be automatically entered in the “Collision radius” display window (829).

[0112] And as shown in FIGS. 20 to 22, the user can additionally set check points (831, 832, 833) using the method described above, and each additional setting can produce the location, vertical vector, and shape information (radius) of each check point and be automatically input.

[0113] According to another embodiment of the present invention, while photographing an actual tool using a device such as a tablet PC, a check point can be selected directly on the image of the tool displayed on the screen.

[0114] Referring to FIG. 23, an image (910) of a tool being photographed is displayed on the screen (900) of a tablet PC, and when a user presses the "Add" button (920) and then touches a desired check point (911), location information (925) for the touched check point (911) can be displayed on the screen.

[0115] Additionally, on the screen (900) of the tablet PC illustrated in FIG. 23, the vertical vector and shape information for the check point (911) described above may be calculated and additionally displayed.

[0116] In the above, the collision information setting method for robot motion simulation according to one embodiment of the present invention was described as being performed by a robot motion simulation device, but the present invention is not limited thereto, and may be performed on a personal computer (PC), laptop, tablet, etc., may be performed on a teaching pendant provided in a robot system, or may be performed on a control station for controlling the robot or on the robot itself.

[0117] In addition, according to another embodiment of the present invention, by simulating the operation of the robot according to the collision information set as described above, a method for determining the risk of a collision of the robot in advance and reducing the risk is provided, thereby preventing death or serious injury from occurring due to unintended contact with a worker during the operation of the robot.

[0118] For example, when area information and checkpoint information are set for the workspace of the robot according to the collision information setting method described with reference to FIGS. 4 to 23, and position, vertical vector, and shape information for the checkpoint are calculated, the collision risk for the checkpoint can be calculated according to the set and calculated information.

[0119] The risk of collision for a checkpoint can be calculated using the Pressure Force Index (PFI) as shown in the following mathematical formula 1.

[0120]

[0121] In mathematical expression 1, “f_est” is a force value that occurs during a collision predicted through simulation of robot movement, and can be calculated as in mathematical expression 2 below.

[0122]

[0123] In Equation 2, v rel is the relative velocity of the robot and the human, μ is the composite mass of the robot and the human, and k is the composite stiffness of the robot and the human.

[0124] In addition, in mathematical expression 1, “p_est” is a pressure value that occurs during a collision predicted through simulation of robot movement, and can be calculated as in mathematical expression 3 below.

[0125]

[0126] And in mathematical expression 1, “f_max” is a force limit value for each human body part, and “p_max” is a pressure limit value for each human body part, and each may have values ​​as described with reference to FIG. 2, but the present invention is not limited thereto, and may be set to values ​​required by the standard.

[0127] As described above, when the PFI indicating the risk of collision for a checkpoint is calculated, if the PFI value exceeds 100, the force or pressure predicted by the simulation device (400) at the time of collision may be outside the range of the limit value, and it may be judged that there is a risk that the checkpoint may cause serious damage to a person's body if it collides with a person during the operation of the robot.

[0128] Meanwhile, for an operation in which the PFI value exceeds 100 as described above, a risk reduction method may be provided to lower the PFI value to 100 or less.

[0129] The methods according to the present invention described above can be produced as a program to be executed on a computer and stored in a computer-readable recording medium. Examples of the computer-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

[0130] Computer-readable recording media can be distributed across network-connected computer systems, allowing computer-readable code to be stored and executed in a distributed manner. Furthermore, functional programs, codes, and code segments for implementing the above method can be readily inferred by programmers skilled in the art to which the present invention pertains.

[0131] Although the preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and various modifications can be made by those skilled in the art without departing from the gist of the present invention as claimed in the claims. Furthermore, such modifications should not be understood individually from the technical idea or prospect of the present invention.

Claims

1. A method for setting collision information for simulating robot movements, A step of obtaining robot installation information, risk area information, and collision-prone body part information for each risk area for the workspace of the above robot; For the above robot, a step of setting a check point for determining the risk of collision; and A method for setting collision information for robot motion simulation, characterized by including a step of calculating coordinate information and shape information for the check point based on at least some of the acquired information and the set check point.

2. In paragraph 1, A method for setting collision information for robot motion simulation, wherein the robot is capable of power and force limiting (PFL) cooperative driving.

3. In paragraph 1, the information acquisition step is A step of acquiring an image of the workspace of the above robot; A step of setting the scale of the acquired image; and A method for setting collision information for robot motion simulation, characterized by comprising a step of setting at least one of the installation angle and installation position of the robot.

4. In paragraph 3, One or more risk areas are set on the acquired image, A method for setting collision information for robot motion simulation, characterized in that, for each of the above-mentioned set risk areas, a body part corresponding to at least one of a skull and forehead, a face, a neck, a back and shoulders, a chest, an abdomen, a pelvis, upper arms and elbow joints, lower arms and wrist joints, hands and fingers, thighs and knees, and lower legs is set.

5. In the first paragraph, the checkpoint setting step A step of acquiring an image of a tool mounted on the robot; and A method for setting collision information for robot motion simulation, characterized by including a step of setting the check point on the acquired image.

6. In paragraph 5, A method for setting collision information for robot motion simulation, characterized in that check point information for the main body of the robot is pre-stored.

7. In paragraph 1, the information generation step is A method for setting collision information for robot motion simulation, characterized by including a step of calculating shape information for the check point by using information about points surrounding the check point.

8. In paragraph 7, the information generation step is A method for setting collision information for robot motion simulation, characterized in that the similarity between a plurality of representative shapes is calculated using information about the surrounding points, and the shape of the check point is determined as one of the plurality of representative shapes based on the calculated similarity.

9. In paragraph 8, the plurality of representative shapes are A method for setting collision information for robot motion simulation, characterized in that it includes at least one of a half sphere, a corner, a cylinder, and a flat.

10. In paragraph 7, the information generation step is A method for setting collision information for robot motion simulation, characterized by including a step of calculating a normal vector for the check point using the calculated shape information.

11. A computer program stored on a computer-readable recording medium for executing any one of the methods of claims 1 to 10 in combination with hardware.

12. A device for performing the method of any one of clauses 1 to 10.

13. Power and Force Limiting (PFL) A device for simulating the movement of a robot capable of cooperative driving, An information acquisition module for acquiring robot installation information, risk area information, and collision-prone body part information for each risk area for the workspace of the above robot; For the above robot, a checkpoint setting module for setting a checkpoint to determine the risk of collision; and A robot motion simulation device characterized by including an information generating module for generating coordinate information and shape information for the check point based on at least some of the acquired information and the set check point.

14. In paragraph 13, the information acquisition module Acquire an image of the workspace of the robot, set the scale of the acquired image, and set the installation angle and installation position of the robot. A robot motion simulation device characterized in that one or more risk areas are set on the acquired image, and a body part with a high possibility of collision is set for each of the set risk areas.

15. In the 13th paragraph, the checkpoint setting module An image of a tool mounted on the robot is acquired, and the checkpoint is set on the acquired image. A robot motion simulation device characterized in that it calculates the similarity between a plurality of representative shapes using information about surrounding points of the check point, and determines the shape of the check point as one of the plurality of representative shapes based on the calculated similarity.

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