3D Robot Collision Safety Evaluation for Speed and Posture Control
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Solution Overview
Problem
Current methods for ensuring robot safety during collisions with operators are inefficient, as they either significantly reduce robot speed, leading to reduced productivity, or rely on inaccurate collision force measurements that do not account for the robot's shape, and require costly separate devices for evaluation.
Innovation Solution
A method that calculates collision pressure and force based on the three-dimensional shape, movement speed, and path of the robot, adjusting its speed and posture to meet ISO safety standards, using a three-dimensional model and simulation to evaluate and control the robot's movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the speed of the robot is significantly reduced to ensure safety, then the safety of the robot is improved, but the productivity is significantly reduced
Solution Approach 1:
The patent changes the parameter of robot speed dynamically based on the operator's position and collision risk assessment. Instead of maintaining a constantly low speed, the robot operates at high speed when safe and reduces speed only when necessary, thereby maintaining productivity while ensuring safety.
Solution Approach 2:
The patent implements dynamic speed adjustment where the robot's operating speed varies in real-time based on the operator's location and movement. The control unit continuously monitors and adjusts speed parameters, allowing the robot to maintain high productivity during safe operations while automatically reducing speed to prevent harm when operators are nearby.
2Reliability
If a fence is installed around the robot to ensure safety, then the safety is improved, but the workspace flexibility and operator-robot collaboration capability are reduced
Solution Approach 1:
The patent replaces the mechanical fence system with a software-based safety monitoring and control system. The control unit uses sensors and algorithms to monitor operator positions and automatically adjust robot speed, eliminating the need for physical barriers while maintaining safety and preserving workspace flexibility.
3Measurement precision
If separate devices are installed in the test robot to measure collision pressure and force, then the measurement capability is improved, but the evaluation cost increases
Solution Approach 1:
The patent introduces a simulation model as an intermediary between the robot and the safety evaluation process. Instead of directly measuring collision forces with expensive sensors, the system uses a simulation model to calculate and predict collision pressures and forces based on robot parameters and operator position, providing accurate measurements without additional hardware costs.
Solution Approach 2:
The patent creates a virtual copy or simulation model of the robot and collision scenario to evaluate safety parameters. This digital twin approach allows comprehensive safety assessment including collision force calculations without requiring physical measurement devices, reducing evaluation costs while maintaining measurement precision.
4Measurement precision
If the test robot repeatedly stops and operates during safety evaluation, then the safety assessment completeness is improved, but the work efficiency is reduced and strain on the test robot increases
Solution Approach 1:
The patent performs preliminary safety evaluation through simulation before actual robot operation. By calculating collision risks and determining safe operating speeds in advance using the simulation model, the system eliminates the need for repeated stopping and testing during evaluation, improving work efficiency while maintaining comprehensive safety assessment.
Data Source
AI summary
A method of evaluating safety of a robot includes a step of obtaining a three-dimensional image or three-dimensional model of a test robot comprising shape information of a real robot, a step of setting a movement time and movement path of the test robot by inputting profile information comprising movement time information and movement path information of the test robot, a step of calculating a collision pressure and collision force applied to a collision object in consideration of a shape, effective mass, movement speed, and direction of an injury-causing dangerous portion of the test robot, and a step of evaluating safety of the robot by determining whether magnitudes of the calculated collision pressure and collision force fall within magnitudes of a predetermined maximum collision pressure and predetermined maximum collision force.