Robot safety system and operation method thereof

Abstract

A robot safety system according to an embodiment disclosed herein comprises a plurality of robot controllers that are connected in a series cascade configuration such that a safety signal generated during operations of a plurality of robots is cross-referenced. A first robot controller, among the plurality of robot controllers, may include: a first interface circuit having an input port that receives the safety signal and an output port that outputs the safety signal to the outside; a second interface circuit that generates a reset signal for re-operations of the plurality of robots; at least one processor; and a memory that stores instructions. The instructions are executed by the at least one processor, and allow the first robot controller to identify the reset signal through the second interface circuit after confirming generation of the safety signal, respond to the identifying of the reset signal to shut off power supply to a robot connected to the first robot controller, and limit output of the safety signal identified through the first interface circuit during a period of time specified on the basis of the time the reset signal has been identified. In addition, various other embodiments understood through the present document are also possible.

Description

Robot safety system and method of operation thereof

[0001] The present disclosure relates to a robot safety system and a method of operating the same.

[0002] Industrial robots play a key role in factory automation by performing dangerous or simple tasks in place of humans in industrial settings such as manufacturing and logistics. Recently, with technological advancements, robots are being used to work collaboratively in the same space as humans; consequently, measures are being proposed to prevent potential hazards during operation and ensure sufficient safety. For instance, safety measures can be implemented to halt the robot's operation if the distance between the robot and the operator narrows to within a safe distance or if the operator presses the emergency stop button.

[0003] The information described above may be provided as related art for the purpose of aiding understanding of the present disclosure. No claim or determination is made as to whether any of the foregoing may be applied as prior art related to the present disclosure.

[0004] A robot safety system according to one embodiment of the present disclosure may include a plurality of robot controllers connected in a series cascade structure so that safety signals generated while a plurality of robots are operating are mutually referenced. Among the plurality of robot controllers, a first robot controller may include a first interface circuit comprising an input port for receiving the safety signal and an output port for outputting the safety signal to the outside, a second interface circuit for generating a reset setting signal for restarting the plurality of robots, at least one processor, and a memory for storing instructions. The instructions may be executed by the at least one processor so that the first robot controller identifies the reset setting signal through the second interface circuit after confirming the generation of the safety signal. The instructions may be executed by the at least one processor so that the first robot controller cuts off the power supplied to the robot connected to the first robot controller in response to the identification of the reset setting signal. The above instructions are executed by the at least one processor, so that the first robot controller may limit the output of a safety signal identified through the first interface circuit for a specified time based on the time when the reset setting signal is identified.

[0005] A method of operation of a safety control system comprising a plurality of robot controllers connected in a serial cascade structure so that safety signals generated while a plurality of robots are operating according to one embodiment of the present disclosure may include an operation of identifying a reset setting signal for restarting the plurality of robots after confirming the generation of said safety signal. The method may include an operation of cutting off power supplied to the plurality of robots in response to the identification of said reset setting signal. The method may include an operation of limiting the output of the identified safety signal for a specified time based on the time at which said reset setting signal is identified.

[0006] A robot controller according to one embodiment of the present disclosure may include a first interface circuit that inputs and outputs a safety signal generated while a plurality of robots are operating, a second interface circuit that generates a reset setting signal for restarting the plurality of robots, at least one processor, and a memory that stores instructions. The instructions may be executed by the at least one processor to cause the robot controller to identify the reset setting signal through the second interface circuit after confirming the generation of the safety signal. The instructions may be executed by the at least one processor to cause the robot controller to cut off power supplied to a robot connected to the robot controller in response to the identification of the reset setting signal. The instructions may be executed by the at least one processor to cause the robot controller to limit the output of the safety signal identified through the first interface circuit for a specified time based on the time when the reset setting signal is identified.

[0007] FIG. 1 is a block diagram of an electronic device in a network environment according to one embodiment.

[0008] FIG. 2 is a drawing illustrating a robot safety system according to one embodiment.

[0009] FIG. 3 is a diagram illustrating the configuration of a robot controller according to one embodiment.

[0010] FIG. 4 is a flowchart illustrating the operation method of a robot safety system according to one embodiment.

[0011] FIG. 5 is a diagram illustrating a method of processing identified safety signals while performing an initialization operation of a robot safety system according to one embodiment.

[0012] FIG. 6 is a diagram illustrating the sequential signal flow of a process for performing an initialization task in a robot safety system according to one embodiment.

[0013] FIG. 7 is a diagram illustrating the sequential signal flow of a process for performing an initialization task in a robot safety system according to one embodiment.

[0014] FIG. 8 is a diagram illustrating a method of processing identified safety signals while performing an initialization operation of a robot safety system according to one embodiment.

[0015] FIG. 9 is a diagram illustrating the sequential signal flow of a process for performing an initialization task in a robot safety system according to one embodiment.

[0016] FIG. 10 is a diagram illustrating the sequential signal flow of a process for performing an initialization task in a robot safety system according to one embodiment.

[0017] FIG. 11 is a diagram illustrating the sequential signal flow of a process for performing an initialization task in a robot safety system according to one embodiment.

[0018] In relation to the description of the drawings, the same or similar reference numerals may be used for identical or similar components.

[0019] Hereinafter, various embodiments of the present disclosure are described with reference to the attached drawings. It should be understood that the various embodiments of the present disclosure are not intended to limit the present disclosure to a specific form and include various modifications, equivalents, and / or alternatives of the present disclosure.

[0020] A robot safety system driving multiple robots must be structured to ensure the safety of the entire system by mutually referencing multiple robot controllers corresponding to each of the multiple robots when a safety signal is generated. If the mutual reference relationship for safety signals of multiple robots in the robot safety system is implemented through a higher-level safety control system such as a Safety PLC, there may be limitations to expandable implementation due to the burden of additional costs for implementing the higher-level safety control system and the requirement for separate programming processing based on signal conditions. If multiple robot controllers are connected in a series cascade manner without implementing a higher-level safety control system, the structure is intuitive and simple; however, a deadlock phenomenon may occur where mutually referenced safety signals are not released because the synchronization of safety signal initialization progress among the multiple robot controllers is not accurately achieved, thereby preventing the system's initialization operation from proceeding.

[0021] In various embodiments of the present disclosure, various embodiments can be provided for performing safety signal initialization operations while ensuring the safety of the entire system without introducing a separate upper-level safety control system in a robot safety system in which a plurality of robot controllers driving a plurality of robots are connected in a serial cascade structure.

[0022] The technical problems to be solved in this disclosure are not limited to those mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art to which this disclosure pertains.

[0023] FIG. 1 is a drawing illustrating an electronic device in a network environment (100) according to one embodiment.

[0024] Referring to FIG. 1, in a network environment (100), an electronic device (101) may communicate with an electronic device (102) through a first network (198) (e.g., a short-range wireless communication network) or with at least one of an electronic device (104) or a server (108) through a second network (199) (e.g., a long-range wireless communication network). According to one embodiment, the electronic device (101) may communicate with the electronic device (104) through a server (108). According to one embodiment, the electronic device (101) may include a processor (120), memory (130), input module (150), sound output module (155), display module (160), audio module (170), sensor module (176), interface (177), connection terminal (178), haptic module (179), camera module (180), power management module (188), battery (189), communication module (190), subscriber identification module (196), or antenna module (197). In some embodiments, at least one of these components (e.g., connection terminal (178)) may be omitted from the electronic device (101), or one or more other components may be added. In some embodiments, some of these components (e.g., sensor module (176), camera module (180), or antenna module (197)) may be integrated into a single component (e.g., display module (160)).

[0025] The processor (120) can control at least one other component (e.g., a hardware or software component) of the electronic device (101) connected to the processor (120) by executing software (e.g., a program (140)), and can perform various data processing or operations. According to one embodiment, as at least part of the data processing or operations, the processor (120) can store commands or data received from other components (e.g., a sensor module (176) or a communication module (190)) in volatile memory (132), process the commands or data stored in volatile memory (132), and store the resulting data in non-volatile memory (134). According to one embodiment, the processor (120) may include a main processor (121) (e.g., a central processing unit or an application processor) or an auxiliary processor (123) that can operate independently or together with it (e.g., a graphics processing unit, a neural processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor). For example, if the electronic device (101) includes a main processor (121) and an auxiliary processor (123), the auxiliary processor (123) may be configured to use lower power than the main processor (121) or to be specialized for a designated function. The auxiliary processor (123) may be implemented separately from the main processor (121) or as part thereof.

[0026] The auxiliary processor (123) may control at least some of the functions or states associated with at least one component of the electronic device (101) (e.g., display module (160), sensor module (176), or communication module (190)) on behalf of the main processor (121) while the main processor (121) is in an inactive (e.g., sleep) state, or together with the main processor (121) while the main processor (121) is in an active (e.g., application execution) state. According to one embodiment, the auxiliary processor (123) (e.g., image signal processor or communication processor) may be implemented as part of another functionally related component (e.g., camera module (180) or communication module (190)). According to one embodiment, the auxiliary processor (123) (e.g., neural network processing unit) may include a hardware structure specialized for processing an artificial intelligence model. The artificial intelligence model may be generated through machine learning. Such learning may be performed, for example, on the electronic device (101) itself where the artificial intelligence model is executed, or through a separate server (e.g., server (108)). The learning algorithm may include, for example, supervised learning, unsupervised learning, semi-supervised learning, or reinforcement learning, but is not limited to the examples described above. The artificial intelligence model may include a plurality of artificial neural network layers.An artificial neural network may be a deep neural network (DNN), a convolutional neural network (CNN), a recurrent neural network (RNN), a restricted Boltzmann machine (RBM), a deep belief network (DBN), a bidirectional recurrent deep neural network (BRDNN), a deep Q-network, or a combination of two or more of the above, but is not limited to the examples described above. In addition to the hardware structure, the artificial intelligence model may include a software structure, either additionally or substantially.

[0027] The memory (130) can store various data used by at least one component of the electronic device (101) (e.g., processor (120) or sensor module (176)). The data may include, for example, input data or output data for software (e.g., program (140)) and related commands. The memory (130) may include volatile memory (132) or non-volatile memory (134).

[0028] The program (140) may be stored as software in memory (130) and may include, for example, an operating system (142), middleware (144), or an application (146).

[0029] The input module (150) can receive commands or data to be used for a component of the electronic device (101) (e.g., processor (120)) from outside the electronic device (101) (e.g., user). The input module (150) may include, for example, a microphone, a mouse, a keyboard, a key (e.g., a button), or a digital pen (e.g., a stylus pen).

[0030] The sound output module (155) can output a sound signal to the outside of the electronic device (101). The sound output module (155) may include, for example, a speaker or a receiver. The speaker may be used for general purposes, such as multimedia playback or recording playback. The receiver may be used to receive incoming calls. According to one embodiment, the receiver may be implemented separately from the speaker or as part thereof.

[0031] The display module (160) can visually provide information to an external (e.g., user) of the electronic device (101). The display module (160) may include, for example, a display, a holographic device, or a projector and a control circuit for controlling said device. According to one embodiment, the display module (160) may include a touch sensor configured to detect a touch, or a pressure sensor configured to measure the intensity of the force generated by said touch.

[0032] The audio module (170) can convert sound into an electrical signal or, conversely, convert an electrical signal into sound. According to one embodiment, the audio module (170) can acquire sound through the input module (150) or output sound through the sound output module (155) or an external electronic device (e.g., electronic device (102)) (e.g., speaker or headphones) connected directly or wirelessly to the electronic device (101).

[0033] The sensor module (176) can detect the operating state of the electronic device (101) (e.g., power or temperature) or the external environmental state (e.g., user state) and generate an electrical signal or data value corresponding to the detected state. According to one embodiment, the sensor module (176) may include, for example, a gesture sensor, a gyroscope sensor, a barometric pressure sensor, a magnetic sensor, an accelerometer sensor, a grip sensor, a proximity sensor, a color sensor, an IR (infrared) sensor, a biosensor, a temperature sensor, a humidity sensor, or an illuminance sensor.

[0034] The interface (177) may support one or more specified protocols that can be used for the electronic device (101) to be connected directly or wirelessly to an external electronic device (e.g., electronic device (102)). According to one embodiment, the interface (177) may include, for example, a high definition multimedia interface (HDMI), a universal serial bus (USB) interface, an SD card interface, or an audio interface.

[0035] The connection terminal (178) may include a connector through which the electronic device (101) can be physically connected to an external electronic device (e.g., electronic device (102)). According to one embodiment, the connection terminal (178) may include, for example, an HDMI connector, a USB connector, an SD card connector, or an audio connector (e.g., a headphone connector).

[0036] The haptic module (179) can convert an electrical signal into a mechanical stimulus (e.g., vibration or movement) or an electrical stimulus that the user can perceive through tactile or kinesthetic senses. According to one embodiment, the haptic module (179) may include, for example, a motor, a piezoelectric element, or an electric stimulation device.

[0037] The camera module (180) can capture still images and video. According to one embodiment, the camera module (180) may include one or more lenses, image sensors, image signal processors, or flashes.

[0038] The power management module (188) can manage power supplied to the electronic device (101). According to one embodiment, the power management module (188) can be implemented, for example, as at least part of a power management integrated circuit (PMIC).

[0039] The battery (189) can supply power to at least one component of the electronic device (101). According to one embodiment, the battery (189) may include, for example, a non-rechargeable primary battery, a rechargeable secondary battery, or a fuel cell.

[0040] The communication module (190) can support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between an electronic device (101) and an external electronic device (e.g., electronic device (102), electronic device (104), or server (108)), and the performance of communication through the established communication channel. The communication module (190) may include one or more communication processors that operate independently of the processor (120) (e.g., application processor) and support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (190) may include a wireless communication module (192) (e.g., cellular communication module, short-range wireless communication module, or GNSS (global navigation satellite system) communication module) or a wired communication module (194) (e.g., LAN (local area network) communication module, or power line communication module). The corresponding communication module among these communication modules can communicate with an external electronic device (104) through a first network (198) (e.g., a short-range communication network such as Bluetooth, Wi-Fi (wireless fidelity) direct or IrDA (infrared data association)) or a second network (199) (e.g., a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a LAN or WAN)). These various types of communication modules may be integrated into a single component (e.g., a single chip) or implemented as multiple separate components (e.g., multiple chips). The wireless communication module (192) can identify or authenticate the electronic device (101) within a communication network such as the first network (198) or the second network (199) using subscriber information (e.g., International Mobile Subscriber Identifier (IMSI)) stored in the subscriber identification module (196).

[0041] The wireless communication module (192) can support 5G networks and next-generation communication technologies following 4G networks, for example, new radio access technology. NR access technology can support high-speed transmission of high-capacity data (enhanced mobile broadband (eMBB)), minimization of terminal power and connection of multiple terminals (massive machine type communications (mMTC)), or high reliability and low latency (ultra-reliable and low-latency communications (URLLC)). The wireless communication module (192) can support a high-frequency band (e.g., mmWave band) to achieve a high data transmission rate, for example. The wireless communication module (192) can support various technologies for securing performance in the high-frequency band, such as beamforming, massive MIMO (multiple-input and multiple-output), full-dimensional MIMO (FD-MIMO), array antenna, analog beam-forming, or large-scale antenna. The wireless communication module (192) can support various requirements specified in the electronic device (101), external electronic device (e.g., electronic device (104)), or network system (e.g., second network (199)). According to one embodiment, the wireless communication module (192) can support a Peak data rate (e.g., 20 Gbps or more) for realizing eMBB, loss coverage (e.g., 164 dB or less) for realizing mMTC, or U-plane latency (e.g., downlink (DL) and uplink (UL) each 0.5 ms or less, or round trip 1 ms or less) for realizing URLLC.

[0042] An antenna module (197) can transmit a signal or power to an external source (e.g., an external electronic device) or receive it from an external source. According to one embodiment, the antenna module (197) may include an antenna comprising a radiator made of a conductor or a conductive pattern formed on a substrate (e.g., a PCB). According to one embodiment, the antenna module (197) may include a plurality of antennas (e.g., an array antenna). In this case, at least one antenna suitable for a communication method used in a communication network, such as a first network (198) or a second network (199), may be selected from the plurality of antennas, for example, by a communication module (190). A signal or power may be transmitted or received between the communication module (190) and an external electronic device through the selected at least one antenna. According to some embodiments, in addition to the radiator, other components (e.g., a radio frequency integrated circuit (RFIC)) may be additionally formed as part of the antenna module (197).

[0043] According to various embodiments, the antenna module (197) may form a mmWave antenna module. According to one embodiment, the mmWave antenna module may include a printed circuit board, an RFIC disposed on or adjacent to a first surface (e.g., bottom surface) of the printed circuit board and capable of supporting a specified high frequency band (e.g., mmWave band), and a plurality of antennas (e.g., array antennas) disposed on or adjacent to a second surface (e.g., top surface or side surface) of the printed circuit board and capable of transmitting or receiving a signal of the specified high frequency band.

[0044] At least some of the above components can be connected to each other via a communication method between peripheral devices (e.g., bus, GPIO (general purpose input and output), SPI (serial peripheral interface), or MIPI (mobile industry processor interface)) and exchange signals (e.g., commands or data) with each other.

[0045] According to one embodiment, commands or data may be transmitted or received between the electronic device (101) and an external electronic device (104) through a server (108) connected to a second network (199). Each of the external electronic devices (102, or 104) may be the same or different type of device as the electronic device (101). According to one embodiment, all or part of the operations performed on the electronic device (101) may be performed on one or more of the external electronic devices (102, 104, or 108). For example, if the electronic device (101) needs to perform a function or service automatically or in response to a request from a user or another device, the electronic device (101) may request one or more external electronic devices to perform at least part of the function or service instead of performing the function or service itself or additionally. One or more external electronic devices that receive the above request may execute at least part of the requested function or service, or additional function or service related to the request, and transmit the result of the execution to the electronic device (101). The electronic device (101) may provide the result as is or additionally processed as at least part of the response to the request. For this purpose, for example, cloud computing, distributed computing, mobile edge computing (MEC), or client-server computing technology may be used. The electronic device (101) may provide ultra-low latency services using, for example, distributed computing or mobile edge computing. In one embodiment, the external electronic device (104) may include an Internet of Things (IoT) device. The server (108) may be an intelligent server using machine learning and / or neural networks. According to one embodiment, the external electronic device (104) or the server (108) may be included within the second network (199).The electronic device (101) can be applied to intelligent services (e.g., smart home, smart city, smart car, or healthcare) based on 5G communication technology and IoT-related technology.

[0046] FIG. 2 is a drawing illustrating a robot safety system (200) according to one embodiment.

[0047] Referring to FIG. 2, the robot safety system (200) may include a plurality of robot controllers (210, 230, ..., 270) for controlling a plurality of robots, and a plurality of teaching devices (220, 240, ..., 280) each connected to the plurality of robot controllers (210, 230, ..., 270).

[0048] In one embodiment, a plurality of robot controllers (210, 230, ..., 270) may be connected in a series cascade manner to mutually reference safety signals generated while driving the plurality of robots. For example, at least a portion of the output port (212) that outputs the safety signal to the outside from the first robot controller (210) may be connected to at least a portion of the input port (231) of the second robot controller (230), so that the safety signal output from the first robot controller (210) may be input to the second robot controller (230). Likewise, at least a portion of the output port (232) of the second robot controller (230) is connected to at least a portion of the input port of the subsequent robot controller, and at least a portion of the output port (272) of the Nth robot controller (270) is connected to at least a portion of the input port (211) of the first robot controller (210), so that the safety signal can be cross-referenced among the plurality of robot controllers (210, 230, ..., 270). According to various embodiments, to increase the safety of the robot safety system (200), the input port and output port of each robot controller exchanging the safety signal may be dual-connected to each other.

[0049] In one embodiment, a plurality of teaching devices (220, 240, ..., 280) may generate a safety signal upon a request from an operator while the plurality of robots are in operation. The safety signal may be generated based on an emergency stop button input included in any one of the plurality of teaching devices (220, 240, ..., 280). For example, when the operator presses the emergency stop button of the first teaching device (220) while the plurality of robots are in operation, a safety signal is generated from the first robot controller (210) based on the emergency stop signal authorized by the first teaching device (220), and the generated safety signal may be transmitted to and shared with other robot controllers (230, ..., 270). According to various embodiments, the plurality of teaching devices (220, 240, ..., 280) may each be dual-connected to a corresponding robot controller.

[0050] In one embodiment, the safety signal may be generated by a safety assist device (290) outside the robot safety system (200). When the safety assist device (290) detects a dangerous situation in which a safety distance between at least one robot and a worker is not maintained, it may apply an emergency stop signal to at least one robot controller (e.g., the first robot controller (210)) among a plurality of robot controllers (210, 230, ..., 270) to generate a safety signal from the at least one robot controller.

[0051] In one embodiment, when a safety signal is generated in at least one robot controller based on an emergency stop signal applied by at least one teaching device or safety assist device (290) among a plurality of teaching devices (220, 240, ..., 280), the safety signal is cross-referenced among the plurality of robot controllers (210, 230, ..., 270) so that the power supplied to the plurality of robots is cut off, and the plurality of robots may not operate normally until the safety signal state of the robot safety system (200) is initialized by a reset setting signal. The reset setting signal may be generated by a reset button (213, 233, ..., 273) provided in each robot controller. In order for the generated reset setting signal to be shared among a plurality of robot controllers (210, 230, ..., 270), the reset buttons (213, 233, ..., 273) provided in the plurality of robot controllers (210, 230, ..., 270) can be connected to each other. For example, when an operator presses the reset button (213) included in the first robot controller (210), the reset setting signal generated by the reset button (213) can also be applied to other robot controllers (230, ..., 270).

[0052] In one embodiment, when the reset setting signal is applied to each of the multiple robot controllers (210, 230, ..., 270), each robot controller can perform the task of initializing the state of each corresponding robot and the safety signal state of each robot controller. At this time, the initialization tasks performed by each of the multiple robot controllers may not be accurately synchronized with each other and a time difference may occur, and during this time difference, a deadlock state may occur in which the initialization task is interrupted by a safety signal input from another robot controller. For example, if the first robot controller (210) identifies a safety signal transmitted from the Nth robot controller (270) while performing an initialization task based on a reset setting signal generated by the reset button (213), the initialization task being performed may be interrupted by the identified safety signal. In order to prevent a deadlock from occurring during the initialization operation of each robot controller, the robot safety system (200) may limit the output of a safety signal identified by each robot controller for a specified time after a reset setting signal is generated, or limit the output of a safety signal input from another robot controller during the initialization operation, thereby allowing each robot controller to complete the initialization operation normally.

[0053] FIG. 3 is a diagram illustrating the configuration of a robot controller (300) according to one embodiment.

[0054] Referring to FIG. 3, the robot controller (300) is a device that stops the operation of a robot in response to a safety signal generated while a plurality of robots are operating, and performs an initialization operation in response to a reset setting signal input thereafter, and may include a first interface circuit (310), a second interface circuit (320), at least one processor (330), and a memory (340). In FIG. 3, the robot controller (300) may correspond to any one of the electronic device (101) shown in FIG. 1 or the plurality of robot controllers (210, 230, ..., 270) of the robot safety system (200) shown in FIG. 2.

[0055] In one embodiment, the first interface circuit (310) may include an input port for receiving a safety signal generated while a plurality of robots are operating, and an output port for outputting the safety signal to the outside. The input port can identify a safety signal generated based on a signal applied by a teaching device (e.g., the teaching device (220, 240, ..., 280) of FIG. 2) and / or an external device (e.g., the safety aid device (290) of FIG. 2) connected to the robot controller (300), or a safety signal input from another robot controller. The output port can transmit the safety signal identified through the input port to another robot controller. According to various embodiments, the first interface circuit (310) may be connected in a serial cascade structure with the first interface circuit of another robot controller so that the safety signal is cross-referenced among a plurality of robot controllers each controlling the plurality of robots. For example, at least a portion of the output port included in the first interface circuit (310) may be connected to the input port of the second robot controller among the plurality of robot controllers so that the safety signal output from the robot controller (300) may be input to the second robot controller. At least a portion of the input port included in the first interface circuit (310) may be the A safety signal output from the third robot controller can be input to the robot controller (300) by being connected to the output port of the third robot controller among the plurality of robot controllers.

[0056] In one embodiment, the second interface circuit (320) may generate a reset setting signal for restarting the plurality of robots. The reset setting signal may be generated in response to an input from a reset switch (e.g., the reset buttons (213, 233, ..., 273) of FIG. 2) included in the second interface circuit (320). For example, if an operator presses the reset switch after the safety signal is generated, the operation of initializing the safety signal state of the robot controller (300) and the state of the robot corresponding to the robot controller (300) may be performed to restart the plurality of robots. According to various embodiments, the second interface circuit (320) may be connected to the second interface circuit of another robot controller so that the reset setting signal is shared among the plurality of robot controllers, and thus the reset setting signal generated by the input of a reset switch of any one of the plurality of robot controllers may be transmitted to all of the plurality of robot controllers.

[0057] In one embodiment, the memory (340) (e.g., memory (130) of FIG. 1) can store instructions that cause the robot controller (300) to perform various operations by at least one processor (330) (e.g., processor (120) of FIG. 1) when executed. For example, at least one processor (330) can control the robot controller (300) to perform operations to successfully complete the initialization operation based on the reset setting signal.

[0058] In one embodiment, at least one processor (330) can identify a safety signal generated while driving the plurality of robots. For example, at least one processor (330) can identify a safety signal generated based on an emergency stop signal applied from a teaching device and / or an external device connected to the robot controller (300) through the input port of the first interface circuit (310), or a safety signal applied from another robot controller. At least one processor (330) can output the identified safety signal to another robot controller connected to the output port through the output port of the first interface circuit (310), and in this way, the safety signal can be mutually referenced among the plurality of robot controllers each controlling the plurality of robots.

[0059] In one embodiment, at least one processor (330) can identify a reset setting signal input for restarting the plurality of robots after the generation of the safety signal through the second interface circuit (320). For example, at least one processor (330) can identify the reset setting signal applied by the input of a reset switch included in the second interface circuit (320).

[0060] In one embodiment, when at least one processor (330) identifies the reset setting signal, it may cut off the power supplied to the robot connected to the robot controller (300). At least one processor (330) may cut off the power supplied to the robot so that the robot does not move arbitrarily while initializing the safety signal state of the robot controller (300) and the corresponding state of the robot.

[0061] In one embodiment, at least one processor (330) may limit the output of a safety signal identified through the first interface circuit (310) for a specified time based on the time when the reset setting signal is identified. For example, if at least one processor (330) identifies the safety signal while performing the initialization operation based on the reset setting signal, it may determine whether the specified time has elapsed after identifying the reset setting signal. If the result of the determination is that the specified time has not elapsed, at least one processor (330) may invalidate the identified safety signal and limit the output of the safety signal. If the result of the determination is that the specified time has elapsed, at least one processor (330) may determine that the identified safety signal is valid and output the identified safety signal to an input port of another robot controller connected to the output port through the output port of the first interface circuit (310).

[0062] In another example, if at least one processor (330) identifies the safety signal while performing the initialization operation based on the reset setting signal, it can determine whether the safety signal is a signal generated within the robot controller (300). At least one processor (330) can identify the identified safety signal as a signal generated within the robot controller (300) if the identified safety signal is generated based on a signal applied from at least one of a teaching device or an external device connected to the robot controller (300) (i.e., a safety signal newly generated while the robot controller (300) is performing the initialization operation). At least one processor (330) can identify the identified safety signal as not being a signal generated within the robot controller (300) if the identified safety signal is a signal re-entered through the input port of the first interface circuit (310) while being mutually referenced among a plurality of robot controllers. If, as a result of the above determination, the safety signal is a signal generated inside the robot controller (300), at least one processor (330) determines that the identified safety signal is valid and can output the identified safety signal to an input port of another robot controller connected to the output port through the output port of the first interface circuit (310). If, as a result of the above determination, the safety signal is not a signal generated inside the robot controller (300), at least one processor (330) can invalidate the identified safety signal and limit the output of the safety signal.

[0063] In one embodiment, at least one processor (330) can normally complete the initialization operation by limiting the output of an identified safety signal before the specified time elapses while performing the initialization operation based on the reset setting signal, and / or limiting the output of a safety signal input from another robot controller during the initialization operation. After the initialization operation is completed, the state of the robot controller (300) and the corresponding robot may differ depending on whether the safety signal is released before identifying the reset setting signal. The release of the safety signal may be identified by the release of the input of an emergency stop button included in a teaching device connected to the robot controller (300). For example, if at least one processor (330) confirms that the safety signal has been released before identifying the reset setting signal, it can initialize the state of the input port and output port of the first interface circuit (310) to switch to a normal state where the robot can be operated normally. If at least one processor (330) determines that the safety signal is not released before identifying the reset setting signal, it determines that the safety signal remains valid even after the initialization operation is completed in the robot controller (300), and can set the robot to an emergency stop state so that it is not driven.

[0064] FIG. 4 is a flowchart illustrating the operation method of a robot safety system (200) according to one embodiment. According to one embodiment, the robot safety system (200) is a system that stops the operation of a robot in response to a safety signal generated while driving a plurality of robots and performs an initialization operation in response to a reset setting signal input thereafter, and may include a plurality of robot controllers (e.g., a plurality of robot controllers (210, 230, ..., 270) of FIG. 2) for controlling each of the plurality of robots. The operations of FIG. 4 may be performed by each of the plurality of robot controllers, and each robot controller (e.g., a robot controller (300) of FIG. 3) may correspond to either the electronic device (101) shown in FIG. 1 or the plurality of robot controllers (210, 230, ..., 270) of the robot safety system (200) shown in FIG. 2.

[0065] Referring to FIG. 4, in operation 410, the robot controller (300) can confirm that a safety signal is generated while multiple robots are operating. For example, the robot controller (300) can confirm that the safety signal is generated based on the emergency stop signal authorized from the teaching device when the emergency stop button of the teaching device (e.g., the teaching device (220, 240, ..., 280) of FIG. 2 is pressed by the operator. As another example, the robot controller (300) can confirm that the safety signal is generated based on the emergency stop signal authorized from the external device when a dangerous situation is detected by an external device (e.g., the safety assist device (290) of FIG. 2) where a safety distance between at least one robot and the operator is not maintained. As yet another example, the robot controller (300) can confirm that the safety signal is received from another robot controller among the plurality of robot controllers. At this time, the other robot controller may be connected to the input port of the first interface circuit (310) included in the robot controller (300).

[0066] According to various embodiments, the first interface circuit (310) may be connected in a serial cascade structure with the first interface circuit of another robot controller so that the safety signal is mutually referenced among a plurality of robot controllers each controlling the plurality of robots. For example, at least a portion of the output port included in the first interface circuit (310) may be connected to the input port of the second robot controller among the plurality of robot controllers so that the safety signal output from the robot controller (300) may be input to the second robot controller. At least a portion of the input port included in the first interface circuit (310) may be connected to the output port of the third robot controller among the plurality of robot controllers so that the safety signal output from the third robot controller may be input to the robot controller (300).

[0067] According to one embodiment, in operation 420, the robot controller (300) can identify a reset setting signal. The reset setting signal may be generated based on the input of a reset switch (e.g., reset buttons (213, 233, ..., 273) of FIG. 2) included in the second interface circuit (320). For example, when an operator presses the reset switch after the safety signal is generated, the reset setting signal is applied to the robot controller (300), and an operation to initialize the safety signal state of the robot controller (300) and the state of the robot corresponding to the robot controller (300) may be performed to drive the plurality of robots again.

[0068] According to various embodiments, the second interface circuit (320) may be connected to the second interface circuit of another robot controller so that the reset setting signal is shared among a plurality of robot controllers, and thus the reset setting signal generated by inputting a reset switch of any one of the plurality of robot controllers may be transmitted to all of the plurality of robot controllers.

[0069] According to one embodiment, in operation 430, when the robot controller (300) identifies the reset setting signal, it may cut off the power supplied to the robot connected to the robot controller (300). In operation 430, the robot controller (300) may cut off the power supplied to the robot so that the robot does not move arbitrarily while initializing the safety signal state of the robot controller (300) and the corresponding state of the robot.

[0070] According to one embodiment, in operation 440, the robot controller (300) may limit the output of the identified safety signal for a specified time based on the point in time when the reset setting signal is identified. In operation 440, when the robot controller (300) identifies the safety signal while performing the initialization operation based on the reset setting signal, it may determine whether the specified time has elapsed after identifying the reset setting signal. If the specified time has not elapsed, the robot controller (300) may invalidate the identified safety signal and limit the output of the safety signal. If the specified time has elapsed, the robot controller (300) may determine that the identified safety signal is valid and output the identified safety signal to the input port of another robot controller connected to the output port through the output port of the first interface circuit (310). According to various embodiments, the robot controller (300) may limit the output of the safety signal input from another robot controller while performing the initialization operation. In this case, the robot controller (300) may limit the output of the identified safety signal if the identified safety signal is re-input through the input port of the first interface circuit (310) while being mutually referenced among a plurality of robot controllers, and if the identified safety signal is generated based on a signal authorized from at least one of a teaching device or an external device connected to the robot controller (300), the identified safety signal may be output to the input port of another robot controller connected to the output port through the output port of the first interface circuit (310).

[0071] According to one embodiment, when the robot controller (300) successfully completes the initialization operation, it may set the state of the robot controller (300) and the corresponding robot differently depending on whether the safety signal is released before identifying the reset setting signal. If the safety signal is released before identifying the reset setting signal, the robot controller (300) may initialize the state of the input port and output port of the first interface circuit (310) to switch to a normal state where the robot can be operated normally. If the safety signal is not released before identifying the reset setting signal, the robot controller (300) may determine that the safety signal remains valid even after the initialization operation is completed and may set the robot to an emergency stop state so that it is not operated.

[0072] FIG. 5 is a diagram illustrating a method of processing identified safety signals while performing initialization operations of a robot safety system according to one embodiment. The operations of FIG. 5 can be performed by each of a plurality of robot controllers (e.g., a plurality of robot controllers (210, 230, ..., 270) of FIG. 2) constituting the robot safety system (200). Each robot controller (e.g., a robot controller (300) of FIG. 3) may correspond to either the electronic device (101) shown in FIG. 1 or any one of the plurality of robot controllers (210, 230, ..., 270) of the robot safety system (200) shown in FIG. 2.

[0073] Referring to FIG. 5, in operation 510, the robot controller (300) can identify a reset setting signal after the safety signal is generated. For example, the robot controller (300) can generate a reset setting signal to restart the robots when an operator presses the reset switch (e.g., the reset buttons (213, 233, ..., 273) in FIG. 2) after the safety signal is generated.

[0074] According to one embodiment, in operation 520, the robot controller (300) may cut off the power supplied to the robot connected to the robot controller (300) in response to the identification of the reset setting signal, and perform an initialization operation to initialize the safety signal state of the robot controller (300) and the corresponding state of the robot based on the reset setting signal. The cutting off of the power may be understood as preventing malfunction of the robot while performing the initialization operation.

[0075] According to one embodiment, in operation 530, the robot controller (300) can determine whether a safety signal is input while performing the initialization operation. If, as a result of the determination, there is no input safety signal (operation 530-No), the robot controller (300) can continue to perform the initialization operation in operation 535.

[0076] If there is a safety signal input as a result of the above judgment (Operation 530-Yes), the robot controller (300) can check in Operation 540 whether a specified time has elapsed after the occurrence of the reset setting signal. For example, the specified time may be determined based on the estimated time required for the initialization operation performed by the robot controller (300). If, as a result of the above check, the specified time has not elapsed (Operation 540-No), the robot controller (300) can invalidate the safety signal to limit the output of the safety signal and continue to perform the initialization operation.

[0077] If, as a result of the above verification, the specified time has elapsed (Operation 540-Yes), the robot controller (300) can process the safety signal validly and output the safety signal to the input port of another robot controller connected to the output port of the robot controller (300). In this case, the initialization operation may be stopped by the safety signal.

[0078] The signal flow appearing in the robot safety system (200) when performing the operation method of FIG. 5 is explained with reference to FIG. 6 and FIG. 7. FIG. 6 and FIG. 7 are drawings illustrating the sequential signal flow of the process of performing an initialization operation in the robot safety system (200) according to one embodiment.

[0079] FIG. 6 describes the signal flow when an initialization operation is performed based on a reset setting signal after releasing a safety signal generated while operating multiple robots in a robot safety system (200). Referring to FIG. 6, when an emergency stop button (610) is input, a safety signal (601) may be generated in the robot controllers included in the robot safety system (200). For example, when an emergency stop button (610) of a teaching device connected to a first robot controller among the robot controllers is input by an operator while multiple robots are operating, the first robot controller may generate the safety signal based on the emergency stop signal authorized by the teaching device. According to various embodiments, the safety signal may be generated based on an emergency stop signal authorized by an external device that detects that an operator has entered within a safety distance. Due to the generation of the safety signal (601), the first robot controller recognizes that the safety signal has been input and may output the safety signal to the second robot controller. The second robot controller, having received the safety signal from the first robot controller, recognizes that the safety signal has been input and can output the safety signal to another robot controller connected to itself. The safety signal can be mutually referenced among the robot controllers in this manner. While the safety signal is generated, the robot controllers can recognize that each corresponding robot is in a state where it cannot be operated. Subsequently, when the input of the emergency stop button (610) is released, the safety signal may be released (603) in the robot safety system (200), but the robot controllers can continue to perform the input and output of the safety signal through the safety signal mutually referenced among the robot controllers. While the input and output of the safety signal are being performed, the robot controllers can continue to recognize that each corresponding robot is in a state where it cannot be operated.

[0080] In one embodiment, when a reset setting button (620) is input, a reset setting signal (605) may be generated in the robot controllers. For example, when the reset setting button (620) of the first robot controller among the robot controllers is input by an operator, the first robot controller may generate the reset setting signal and transmit it to the second robot controller. The second robot controller may output the reset setting signal to another robot controller connected to it, and the reset setting signal may be shared among the robot controllers in this manner. When the first robot controller identifies the reset setting signal, it may perform an initialization operation to change the robot to a state where it can be restarted. To prevent the initialization operation from being interrupted by the safety signal, the first controller may not output the safety signal input during a specified time interval (655). Similarly, the second controller may not output the safety signal input during a specified time interval (685) while performing an initialization operation to restart the robot based on the reset setting signal.

[0081] In one embodiment, when the initialization operation of the robot controllers is successfully completed and the reset setting of the robot safety system (200) is completed (607), the robot controllers can check whether the safety signal generated in the robot safety system (200) has been released. In FIG. 6, since the safety signal was released (603) before the generation of the reset setting signal (605), the safety signal input and output of the robot controllers are all initialized, and the robot controllers can recognize each corresponding robot in a normal state where it can be restarted.

[0082] FIG. 7 describes the signal flow when an initialization operation is performed based on a reset setting signal while the safety signal generated during the operation of multiple robots in the robot safety system (200) is not released. Referring to FIG. 7, when an emergency stop button (710) is input, a safety signal (701) may be generated in the robot controllers included in the robot safety system (200). For example, when the emergency stop button (710) of a teaching device connected to the first robot controller among the robot controllers is input by an operator while multiple robots are being operated, the first robot controller may generate the safety signal based on the emergency stop signal authorized by the teaching device. According to various embodiments, the safety signal may be generated based on an emergency stop signal authorized by an external device that detects that an operator has entered within a safety distance. Due to the generation of the safety signal (701), the first robot controller recognizes that the safety signal has been input and may output the safety signal to the second robot controller. A second robot controller that receives the safety signal from a first robot controller recognizes that the safety signal has been input and can output the safety signal to another robot controller connected to itself. The safety signal can be mutually referenced among robot controllers in this manner. While the safety signal is generated, the robot controllers can recognize that each corresponding robot is in a state where it cannot be operated.

[0083] In one embodiment, when a reset setting button (720) is input, a reset setting signal (705) may be generated in the robot controllers. For example, when the reset setting button (720) of the first robot controller among the robot controllers is input by an operator, the first robot controller may generate the reset setting signal and transmit it to the second robot controller. The second robot controller may output the reset setting signal to another robot controller connected to it, and the reset setting signal may be shared among the robot controllers in this manner. When the first robot controller identifies the reset setting signal, it may perform an initialization operation to change the robot to a state where it can be restarted. To prevent the initialization operation from being interrupted by the generated safety signal, the first controller may not output the safety signal input during a specified time interval (755). Similarly, the second controller may not output the safety signal input during a specified time interval (785) while performing an initialization operation to restart the robot based on the reset setting signal.

[0084] In one embodiment, when the initialization operation of the robot controllers is successfully completed and the reset setting of the robot safety system (200) is completed (707), the robot controllers can check whether the safety signal generated by the robot safety system (200) has been released. In FIG. 7, since the safety signal was not released before the generation of the reset setting signal (705), the robot controllers can recognize that the generated safety signal is still valid and continue to perform the input and output of the safety signal. In this case, the robot controllers may temporarily recognize the robots as being in a normal state after the initialization operation is completed, and then recognize them as being in an emergency stop state where the robots cannot be restarted after a predetermined time has elapsed.

[0085] FIG. 8 is a diagram illustrating a method of processing identified safety signals while performing initialization operations of a robot safety system according to one embodiment. The operations of FIG. 8 can be performed by each of a plurality of robot controllers constituting the robot safety system (200) (e.g., a plurality of robot controllers (210, 230, ..., 270) of FIG. 2). Each robot controller (e.g., a robot controller (300) of FIG. 3) may correspond to either the electronic device (101) shown in FIG. 1 or any one of the plurality of robot controllers (210, 230, ..., 270) of the robot safety system (200) shown in FIG. 2.

[0086] Referring to FIG. 8, in operation 810, the robot controller (300) can identify a reset setting signal after the safety signal is generated. For example, the robot controller (300) can generate a reset setting signal to restart the robots when an operator presses the reset switch (e.g., the reset buttons (213, 233, ..., 273) in FIG. 2) after the safety signal is generated.

[0087] According to one embodiment, in operation 820, the robot controller (300) may cut off the power supplied to the robot connected to the robot controller (300) in response to the identification of the reset setting signal, and perform an initialization operation to initialize the safety signal state of the robot controller (300) and the corresponding state of the robot based on the reset setting signal. The cutting off of the power may be understood as preventing malfunction of the robot while performing the initialization operation.

[0088] According to one embodiment, in operation 830, the robot controller (300) can determine whether a safety signal is input while performing the initialization operation. If, as a result of the determination, there is no input safety signal (operation 830-No), the robot controller (300) can continue to perform the initialization operation in operation 870.

[0089] If, as a result of the above determination, there is an input safety signal (Operation 830-Yes), the robot controller (300) can check in Operation 840 whether the input safety signal is a signal generated within the robot controller (300). For example, the robot controller (300) can identify a safety signal generated based on a signal authorized from at least one of a teaching device or an external device connected to the robot controller (300) (e.g., a safety signal newly generated while the robot controller (300) is performing an initialization operation) as a signal generated within the robot controller (300). If, as a result of the above verification, the safety signal is a signal generated within the robot controller (300) (Operation 840-Yes), the robot controller (300) can process the safety signal validly and output the safety signal to the input port of another robot controller connected to the output port of the robot controller (300). In this case, the initialization operation may be stopped by the safety signal.

[0090] If, as a result of the above verification, the safety signal is not a signal generated within the robot controller (300) (i.e., a safety signal re-entered from another robot controller while being mutually referenced among multiple robot controllers) (Operation 840-No), the robot controller (300) can invalidate the safety signal in Operation 855 to limit the output of the safety signal and continue to perform the initialization operation. Subsequently, the robot controller (300) can check in Operation 860 whether there is an additional safety signal identified during the performance of the initialization operation. If, as a result of the above verification, there is an additional safety signal identified (Operation 860-Yes), the robot controller (300) can return to Operation 840.

[0091] If no additional safety signal is identified as a result of the above verification (operation 860-No), the robot controller (300) can continue to perform the initialization operation in operation 870.

[0092] The signal flow appearing in the robot safety system (200) when performing the operation method of Fig. 8 is explained with reference to Figs. 9, 10, and 11.

[0093] FIGS. 9, FIGS. 10 and FIGS. 11 are drawings illustrating the sequential signal flow of a process for performing an initialization operation in a robot safety system (200) according to one embodiment.

[0094] FIG. 9 describes the signal flow when an initialization operation is performed based on a reset setting signal after releasing a safety signal generated while operating multiple robots in a robot safety system (200). Referring to FIG. 9, when an emergency stop button (910) is input, a safety signal (901) may be generated in the robot controllers included in the robot safety system (200). For example, when an emergency stop button (910) of a teaching device connected to a first robot controller among the robot controllers is input by an operator while multiple robots are operating, the first robot controller may generate the safety signal based on the emergency stop signal authorized by the teaching device. According to various embodiments, the safety signal may be generated based on an emergency stop signal authorized by an external device that detects that an operator has entered within a safety distance. Due to the generation (901) of the safety signal, the first robot controller recognizes that the safety signal has been input and may output the safety signal to the second robot controller. A second robot controller that receives the safety signal from a first robot controller recognizes that the safety signal has been input and can output the safety signal to another robot controller connected to itself. The safety signal can be mutually referenced among the robot controllers in this manner. While the safety signal is generated, the robot controllers can recognize that each corresponding robot is in a state where it cannot be operated. Subsequently, when the input of the emergency stop button (910) is released, the safety signal may be released (903) in the robot safety system (200), but the robot controllers can continue to perform the input and output of the safety signal through the safety signal mutually referenced among the robot controllers. While the input and output of the safety signal are being performed, the robot controllers can continue to recognize that each corresponding robot is in a state where it cannot be operated.

[0095] In one embodiment, when a reset setting button (920) is input, a reset setting signal (905) may be generated in the robot controllers. For example, when the reset setting button (920) of the first robot controller among the robot controllers is input by an operator, the first robot controller may generate the reset setting signal and transmit it to the second robot controller. The second robot controller may output the reset setting signal to another robot controller connected to it, and the reset setting signal may be shared among the robot controllers in this manner. When the first robot controller identifies the reset setting signal, it may perform an initialization operation to change the robot to a state where it can be restarted. When the initialization operation begins, the first robot controller may initialize the output state of the safety signal by treating the existing safety signal as an invalid signal. At this time, the input state of the safety signal may also be initialized due to the safety signal release (903). The first robot controller checks (955) whether a newly generated safety signal is input while performing the initialization operation, and if there is no newly input safety signal, it can continue performing the initialization operation. Similarly, the second robot controller can treat the existing safety signal as an invalid signal at the start of the initialization operation to initialize the output state of the safety signal and also initialize the input state of the safety signal. The second robot controller checks (985) whether a newly generated safety signal is input while performing the initialization operation, and if there is no newly input safety signal, it can continue performing the initialization operation.

[0096] In one embodiment, when the initialization operation of the robot controllers is successfully completed and the reset setting of the robot safety system (200) is completed (907), the robot controllers can recognize each corresponding robot in a normal state where they can be restarted (since the safety signal input and output of the robot controllers are all initialized).

[0097] FIG. 10 describes a signal flow in which an initialization operation is performed based on a reset setting signal while the safety signal generated during the operation of multiple robots in the robot safety system (200) is not released. Referring to FIG. 10, when an emergency stop button (1010) is input, a safety signal (1001) may be generated in the robot controllers included in the robot safety system (200). For example, when the emergency stop button (1010) of a teaching device connected to the first robot controller among the robot controllers is input by an operator while multiple robots are being operated, the first robot controller may generate the safety signal based on the emergency stop signal applied from the teaching device. According to various embodiments, the safety signal may be generated based on an emergency stop signal applied by an external device that detects that an operator has entered within a safety distance. Due to the generation of the safety signal (1001), the first robot controller recognizes that the safety signal has been input and may output the safety signal to the second robot controller. A second robot controller that receives the safety signal from a first robot controller recognizes that the safety signal has been input and can output the safety signal to another robot controller connected to itself. The safety signal can be mutually referenced among robot controllers in this manner. While the safety signal is generated, the robot controllers can recognize that each corresponding robot is in a state where it cannot be operated.

[0098] In one embodiment, when a reset setting button (1020) is input, a reset setting signal (1005) may be generated in the robot controllers. For example, when the reset setting button (1020) of the first robot controller among the robot controllers is input by an operator, the first robot controller may generate the reset setting signal and transmit it to the second robot controller. The second robot controller may output the reset setting signal to another robot controller connected to it, and the reset setting signal may be shared among the robot controllers in this manner. When the first robot controller identifies the reset setting signal, it may perform an initialization operation to change the robot to a state where it can be restarted. When the initialization operation begins, the first controller may initialize the output state of the safety signal by treating the existing safety signal as an invalid signal. At this time, since the input of the emergency stop button (1010) is maintained, the input state of the safety signal may not be initialized. The first robot controller checks the input status of the safety signal (1055) while performing the initialization operation, and can stop the initialization operation if it recognizes that the input of the safety signal remains valid as a result of the check. Similarly, the second robot controller can initialize the output status of the safety signal by treating the existing safety signal as an invalid signal at the start of the initialization operation, and can not initialize the input status of the safety signal in response to the input status of the emergency stop button (1010). The second robot controller can stop the initialization operation if it recognizes that the input of the safety signal remains valid by checking the input status of the safety signal (1085) while performing the initialization operation.

[0099] FIG. 11 describes the signal flow in the case where an abnormality is detected during the process of performing an initialization operation based on a reset setting signal after releasing a safety signal generated while operating multiple robots in a robot safety system (200). Referring to FIG. 11, when an emergency stop button (1110) is input, a safety signal (1101) may be generated in the robot controllers included in the robot safety system (200). For example, when an emergency stop button (1110) of a teaching device connected to a first robot controller among the robot controllers is input by an operator while multiple robots are operating, the first robot controller may generate the safety signal based on the emergency stop signal authorized by the teaching device. According to various embodiments, the safety signal may be generated based on an emergency stop signal authorized by an external device that detects that an operator has entered within a safety distance. Due to the generation of the safety signal (1101), the first robot controller recognizes that the safety signal has been input and may output the safety signal to the second robot controller. A second robot controller that receives the safety signal from a first robot controller recognizes that the safety signal has been input and can output the safety signal to another robot controller connected to itself. The safety signal can be mutually referenced among the robot controllers in this manner. While the safety signal is generated, the robot controllers can recognize that each corresponding robot is in a state where it cannot be operated. Subsequently, when the input of the emergency stop button (1110) is released, the safety signal may be released (1103) in the robot safety system (200), but the robot controllers can continue to perform the input and output of the safety signal through the safety signal mutually referenced among the robot controllers. While the input and output of the safety signal are being performed, the robot controllers can continue to recognize that each corresponding robot is in a state where it cannot be operated.

[0100] In one embodiment, when a reset setting button (1120) is input, a reset setting signal (1105) may be generated in the robot controllers. For example, when the reset setting button (1120) of the first robot controller among the robot controllers is input by an operator, the first robot controller may generate the reset setting signal and transmit it to the second robot controller. The second robot controller may output the reset setting signal to another robot controller connected to it, and the reset setting signal may be shared among the robot controllers in this manner. When the first robot controller identifies the reset setting signal, it may perform an initialization operation to change the robot to a state where it can be restarted. When the initialization operation begins, the first robot controller may initialize the output state of the safety signal by treating the existing safety signal as an invalid signal. At this time, the input state of the safety signal may also be initialized due to the safety signal release (1103). While performing the initialization operation, the first robot controller checks whether a newly generated safety signal is input, and if there is no newly input safety signal, it may continue to perform the initialization operation. The second robot controller can initialize the output state of the safety signal by treating the existing safety signal as an invalid signal when the initialization operation starts. While performing the initialization operation, the second robot controller checks whether a newly generated safety signal is input, and can recognize that the input of the safety signal remains valid as a result of the check. In this case, the second robot controller checks that the input state of the safety signal is not initialized even though the safety signal was previously released (1103), and detects that there is an abnormality (e.g., a malfunction) in the second robot controller and / or the corresponding robot during the time interval (1165), and can stop the initialization operation. Subsequently, due to the detection of an abnormality by the second robot controller, a new safety signal may be input to other robot controllers, including the first robot controller.The first robot controller may stop the initialization operation by confirming that the new safety signal is input while performing the initialization operation.

[0101] A robot safety system (e.g., robot safety system (200)) according to one embodiment may include a plurality of robot controllers (210, 230, 270) connected in a series cascade structure so that safety signals generated while a plurality of robots are operating are mutually referenced. Among the plurality of robot controllers, the first robot controller (300) comprises a first interface circuit (310) including an input port for receiving the safety signal and an output port for outputting the safety signal to the outside, a second interface circuit (320) for generating a reset setting signal for restarting the plurality of robots, at least one processor (330), and a memory (340) for storing instructions. The instructions are executed by the at least one processor (330), so that the robot controller (300) can identify the reset setting signal through the second interface circuit (320) after confirming the generation of the safety signal, and in response to the identification of the reset setting signal, cut off the power supplied to the robot connected to the first robot controller and limit the output of the safety signal identified through the first interface circuit (310) for a specified time based on the time when the reset setting signal is identified.

[0102] In one embodiment, the robot safety system (200) may further include a plurality of teaching devices (220, 240, 280) each connected to the plurality of robot controllers (210, 230, 270) and transmitting a safety signal generated by an emergency stop button input to each robot controller.

[0103] In one embodiment, the output port of the first interface circuit (310) is connected to the input port of a second robot controller that is different from the first robot controller among the plurality of robot controllers, and the input port of the first interface circuit (310) may be connected to the output port of a third robot controller that is different from the first robot controller among the plurality of robot controllers.

[0104] In one embodiment, the instructions are executed by the at least one processor (330) to enable the first robot controller (300) to identify the safety signal generated based on a signal authorized from a teaching device and / or external device (290) connected to the first robot controller through the input port of the first interface circuit (310), or input from at least one of the other robot controllers.

[0105] In one embodiment, the instructions are executed by the at least one processor (330), and when the first robot controller (300) identifies the safety signal while performing an initialization operation of the robot safety system based on the reset setting signal, it can determine whether the specified time has elapsed and, if the specified time has not elapsed, limit the output of the safety signal.

[0106] In one embodiment, the instructions are executed by the at least one processor (330) so that the first robot controller (300) can output the safety signal to another robot controller through the output port of the first interface circuit (310) when the specified time has elapsed.

[0107] In one embodiment, the instructions are executed by the at least one processor (330), and when the first robot controller (300) identifies the safety signal while performing an initialization operation of the robot safety system based on the reset setting signal, it checks whether the safety signal was generated based on a signal applied from at least one of a teaching device or an external device connected to the first robot controller, and if the safety signal was not generated based on a signal applied from at least one of the teaching device or the external device, it can limit the output of the safety signal.

[0108] In one embodiment, the instructions are executed by the at least one processor (330) so that the first robot controller (300) can output the safety signal to another robot controller through the output port of the first interface circuit if the safety signal is generated based on a signal applied from at least one of the teaching device or the external device.

[0109] In one embodiment, the instructions are executed by the at least one processor (330), so that when the first robot controller (300) completes the initialization operation of the robot safety system based on the reset setting signal, it checks whether the safety signal has been released before identifying the reset setting signal, and if it is confirmed that the safety signal has been released before identifying the reset setting signal, it initializes the input port and output port of the first interface circuit (310) to switch to a normal state.

[0110] In one embodiment, the instructions are executed by the at least one processor (330), so that if the first robot controller (300) confirms that the safety signal has not been released before identifying the reset setting signal, the robot can be set to an emergency stop state by the safety signal.

[0111] A method of operation of a robot safety system comprising a plurality of robot controllers connected in a serial cascade structure so that safety signals generated while a plurality of robots are operating according to one embodiment are mutually referenced may include: an operation of identifying a reset setting signal for restarting the plurality of robots after confirming the generation of the safety signal; an operation of cutting off power supplied to the plurality of robots in response to the identification of the reset setting signal; and an operation of limiting the output of the identified safety signal for a specified time based on the time when the reset setting signal is identified.

[0112] In one embodiment, the method may further include the operation of identifying the safety signal generated based on a signal authorized from a teaching device and / or an external device connected to each robot controller, or input from at least one of other robot controllers, through an input port of a first interface circuit included in each robot controller.

[0113] In one embodiment, the operation of limiting the output of the safety signal may include, when the safety signal is identified during the initialization operation of the robot safety system based on the reset setting signal, an operation of determining whether the specified time has elapsed, and an operation of limiting the output of the safety signal if the specified time has not elapsed.

[0114] In one embodiment, the method may further include the operation of outputting the safety signal to another robot controller through the output port of the first interface circuit included in each robot controller when the specified time has elapsed.

[0115] In one embodiment, the operation of limiting the output of the safety signal may include, when the safety signal is identified during the initialization operation of the robot safety system based on the reset setting signal, an operation of checking whether the safety signal was generated based on a signal applied from at least one of a teaching device or an external device connected to each robot controller, and an operation of limiting the output of the safety signal if the safety signal was not generated based on a signal applied from at least one of the teaching device or the external device.

[0116] In one embodiment, the method may further include the operation of outputting the safety signal to another robot controller through the output port of a first interface circuit included in each robot controller if the safety signal is generated based on a signal applied from at least one of the teaching device or the external device.

[0117] In one embodiment, the method may further include, when the initialization operation of the robot safety system based on the reset setting signal is completed, an operation to check whether the safety signal is released before identifying the reset setting signal, and an operation to initialize the input port and output port of the first interface circuit included in each robot controller to switch to a normal state if it is confirmed that the safety signal is released before identifying the reset setting signal.

[0118] In one embodiment, the method may further include an operation of setting the plurality of robots to an emergency stop state by the safety signal if it is confirmed that the safety signal has not been released before the identification of the reset setting signal.

[0119] A robot controller (e.g., robot controller (300)) according to one embodiment comprises a first interface circuit (310) that inputs and outputs a safety signal generated while a plurality of robots are operating, a second interface circuit (320) that generates a reset setting signal for restarting the plurality of robots, at least one processor (330), and a memory (340) that stores instructions, wherein the instructions are executed by the at least one processor (330), so that the robot controller (300) identifies the reset setting signal through the second interface circuit (320) after confirming the generation of the safety signal, and in response to the identification of the reset setting signal, cuts off the power supplied to the robot connected to the first robot controller, and limits the output of the safety signal identified through the first interface circuit (310) for a specified time based on the time when the reset setting signal is identified, and the first interface circuit is connected in a series cascade structure with other plurality of robot controllers so that the safety signal is mutually referenced. It is possible.

[0120] In one embodiment, the output port of the first interface circuit is connected to the input port of the second robot controller among the plurality of robot controllers, and the input port of the first interface circuit may be connected to the output port of the third robot controller among the plurality of robot controllers.

[0121] The effects obtainable from the present disclosure are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art to which the present disclosure belongs.

[0122] The electronic device according to the various embodiments disclosed in this document may be of various forms. The electronic device may include, for example, a portable communication device (e.g., a smartphone), a computer device, a portable multimedia device, a portable medical device, a camera, a wearable device, or a consumer electronics device. The electronic device according to the embodiments of this document is not limited to the devices described above.

[0123] The various embodiments of this document and the terms used therein are not intended to limit the technical features described in this document to specific embodiments, and should be understood to include various modifications, equivalents, or substitutions of said embodiments. In connection with the description of the drawings, similar reference numerals may be used for similar or related components. The singular form of a noun corresponding to an item may include one or more of said items unless the relevant context clearly indicates otherwise. In this document, phrases such as "A or B," "at least one of A and B," "at least one of A or B," "A, B or C," "at least one of A, B and C," and "at least one of A, B, or C" may each include any one of the items listed together in the corresponding phrase, or any combination thereof. Terms such as "first," "second," or "first" or "second" may be used simply to distinguish said components from other said components and do not limit said components in any other aspect (e.g., importance or order). Where any (e.g., 1st) component is referred to as "coupled" or "connected" to another (e.g., 2nd) component, with or without the terms "functionally" or "communicationly," it means that said any component may be connected to said other component directly (e.g., via a wire), wirelessly, or through a third component.

[0124] As used in this document, the term "module" may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit. A module may be a component formed integrally, or a minimum unit of said component or a part thereof that performs one or more functions. For example, according to one embodiment, a module may be implemented in the form of an application-specific integrated circuit (ASIC).

[0125] Various embodiments of the present document may be implemented as software (e.g., program (140)) comprising one or more instructions stored in a storage medium (e.g., internal memory (136) or external memory (138)) readable by a machine (e.g., electronic device (101)). For example, a processor (e.g., processor (120)) of the machine (e.g., electronic device (101)) may call at least one of the one or more instructions stored in the storage medium and execute it. This enables the machine to be operated to perform at least one function according to the at least one called instruction. The one or more instructions may include code generated by a compiler or code that can be executed by an interpreter. The storage medium readable by the machine may be provided in the form of a non-transitory storage medium. Here, "non-transient" simply means that the storage medium is a tangible device and does not contain a signal (e.g., electromagnetic waves), and the term does not distinguish between cases where data is stored semi-permanently and cases where it is stored temporarily.

[0126] According to one embodiment, the method according to the various embodiments disclosed herein may be provided by being included in a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be distributed in the form of a device-readable storage medium (e.g., compact disc read-only memory (CD-ROM)) or an application store (e.g., Play Store). TM It can be distributed online (e.g., downloaded or uploaded) through ) or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily created on a device-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0127] According to various embodiments, each component (e.g., module or program) of the components described above may include a singular or multiple entities. According to various embodiments, one or more of the components or operations among the aforementioned components may be omitted, or one or more other components or operations may be added. Generally or additionally, multiple components (e.g., module or program) may be integrated into a single component. In this case, the integrated component may perform one or more functions of each of the components of the multiple components in the same or similar manner as those performed by the corresponding component among the multiple components prior to the integration. According to various embodiments, operations performed by the module, program, or other components may be executed sequentially, in parallel, iteratively, or heuristically, or one or more of the operations may be executed in a different order, omitted, or one or more other operations may be added.

Claims

In the robot safety system (200), It includes a plurality of robot controllers (210, 230, 270) connected in a series cascade structure so that safety signals generated while the plurality of robots are operating are cross-referenced, and Among the plurality of robot controllers above, the first robot controller (300) is: A first interface circuit (310) including an input port for receiving the above safety signal and an output port for outputting the above safety signal to the outside; A second interface circuit (320) that generates a reset setting signal for restarting the plurality of robots; At least one processor (330); and It includes a memory (340) for storing instructions, The above instructions are executed by the at least one processor (330), and the first robot controller (300): After confirming the generation of the above safety signal, the reset setting signal is identified through the second interface circuit (320), and In response to the identification of the above reset setting signal, the power supplied to the robot connected to the first robot controller is cut off, and A robot safety system that limits the output of a safety signal identified through the first interface circuit (310) for a specified time based on the point in time when the above reset setting signal is identified. In claim 1, A robot safety system further comprising a plurality of teaching devices (220, 240, 280) each connected to the plurality of robot controllers (210, 230, 270) and transmitting a safety signal generated by an emergency stop button input to each robot controller. In claim 1, The output port of the first interface circuit (310) is connected to the input port of a second robot controller that is different from the first robot controller among the plurality of robot controllers, and A robot safety system in which the input port of the first interface circuit (310) is connected to the output port of a third robot controller that is different from the first robot controller among the plurality of robot controllers. In claim 1, The above instructions are executed by the at least one processor (330), and the first robot controller (300), A robot safety system that identifies a safety signal generated based on a signal authorized from a teaching device and / or an external device (290) connected to the first robot controller, or input from at least one of other robot controllers, through the input port of the first interface circuit (310). In claim 1, The above instructions are executed by the at least one processor (330), and the first robot controller (300), When identifying the safety signal while performing the initialization operation of the robot safety system based on the above reset setting signal, it is determined whether the above specified time has elapsed, and A robot safety system that limits the output of the safety signal when the above-mentioned specified time has not elapsed. In claim 5, The above instructions are executed by the at least one processor (330), and the first robot controller (300), A robot safety system that outputs the safety signal to another robot controller through the output port of the first interface circuit (310) when the above-mentioned time has elapsed. In claim 1, The above instructions are executed by the at least one processor (330), and the first robot controller (300), When identifying the safety signal while performing an initialization operation of the robot safety system based on the above reset setting signal, it is determined whether the safety signal was generated based on a signal authorized from at least one of a teaching device or an external device connected to the first robot controller, and A robot safety system that limits the output of the safety signal if the safety signal is not generated based on a signal authorized from at least one of the teaching device or the external device. In claim 7, The above instructions are executed by the at least one processor (330), and the first robot controller (300), A robot safety system that outputs the safety signal to another robot controller through the output port of the first interface circuit if the safety signal is generated based on a signal authorized from at least one of the teaching device or the external device. In claim 1, The above instructions are executed by the at least one processor (330), and the first robot controller (300), When the initialization operation of the robot safety system is completed based on the above reset setting signal, it is checked whether the safety signal has been released before identifying the above reset setting signal, and A robot safety system that initializes the input port and output port of the first interface circuit (310) to switch to a normal state if it is confirmed that the safety signal is released before the identification of the above reset setting signal. In claim 9, The above instructions are executed by the at least one processor (260), and the first robot controller, A robot safety system that sets the robot to an emergency stop state by the safety signal if it is confirmed that the safety signal has not been released before the identification of the above reset setting signal. A method of operation of a robot safety system comprising a plurality of robot controllers connected in a serial cascade structure so that safety signals generated while the plurality of robots are operating are mutually referenced, An operation to identify a reset setting signal for restarting the plurality of robots after confirming the occurrence of the above safety signal; An operation to cut off the power supplied to the plurality of robots in response to the identification of the above reset setting signal; and Operation to limit the output of an identified safety signal for a specified period based on the point in time when the above reset setting signal is identified. A method including In claim 11, A method further comprising the operation of identifying the safety signal generated based on a signal authorized from a teaching device and / or an external device connected to each robot controller, or input from at least one of other robot controllers, through an input port of a first interface circuit included in each robot controller. In claim 11, The operation of limiting the output of the above safety signal is, An operation to determine whether the specified time has elapsed when the safety signal is identified while performing an initialization operation of the robot safety system based on the above reset setting signal; An operation to limit the output of the safety signal when the above-mentioned specified time has not elapsed; and A method comprising the operation of outputting the safety signal to another robot controller through the output port of the first interface circuit included in each robot controller when the above-mentioned time has elapsed. In claim 11, The operation of limiting the output of the above safety signal is, When identifying the safety signal while performing an initialization operation of the robot safety system based on the above reset setting signal, an operation to determine whether the safety signal was generated based on a signal authorized from at least one of a teaching device or an external device connected to each robot controller; An operation to limit the output of the safety signal if the safety signal is not generated based on a signal authorized from at least one of the teaching device or the external device; and A method comprising the operation of outputting the safety signal to another robot controller through the output port of a first interface circuit included in each robot controller, if the safety signal is generated based on a signal authorized from at least one of the teaching device or the external device. In claim 11, When the initialization operation of the robot safety system is completed based on the above reset setting signal, an operation to check whether the safety signal has been released before identifying the above reset setting signal; If it is confirmed that the safety signal is released before the identification of the above reset setting signal, the operation of initializing the input port and output port of the first interface circuit included in each robot controller to switch to a normal state; and A method further comprising, if it is confirmed that the safety signal is not released before the identification of the above reset setting signal, setting the plurality of robots to an emergency stop state by the safety signal.

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