Segmented Robot Working Zones for Safer Multi-Axis Monitoring
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Solution Overview
Problem
Existing methods for working space monitoring in multi-axis kinematic systems often result in overly large and costly working zones due to simplified modeling, necessitating numerous protective zones, leading to increased computational effort and inefficient use of space.
Innovation Solution
A method for projecting safety-related monitoring by assigning segment kinematic zones to individual segments, determining segment working zones based on their movements, and optimizing these zones to minimize space usage and computational effort, using geometric shapes and optimization algorithms to define precise working zones for each segment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a large, extensive working zone is established for the entire kinematic system, then safety monitoring coverage is improved, but space usage efficiency deteriorates and costs increase
Solution Approach 1:
The patent divides the kinematic system into multiple segments (e.g., robot arm segments) and creates separate working zones for each segment rather than one large zone for the entire system. This segmentation allows each zone to be tightly fitted to the actual movement space of individual segments, reducing total monitored volume while maintaining comprehensive safety coverage.
2Measurement precision
If numerous protective zones are added to supplement the working zone, then safety monitoring precision is improved, but device complexity increases
Solution Approach 1:
The patent applies different monitoring zone types (working zones and protective zones) to different spatial locations based on local requirements. Each segment has its own working zone tailored to its movement characteristics, and protective zones are only added where actually needed, rather than applying a uniform monitoring approach throughout the entire system.
3Adaptability or versatility
If manually established working zones are used, then adaptability to specific kinematic systems is improved, but ease of operation deteriorates due to high complexity
Solution Approach 1:
The system automatically generates segment working zones based on kinematic data from the robot controller, eliminating the need for manual working zone definition by safety personnel. The safety monitoring device retrieves segment movement information and autonomously computes the working zones, making the system self-configuring while maintaining adaptability to different kinematic systems.
Data Source
AI summary
A method for projecting safety-related monitoring for a multi-axis kinematic system with multiple movable segments. The method includes assigning multiple respective segment kinematic zones to in each case one or more segments of the multi-axis kinematic system, wherein the respective segment kinematic zones are formed by segment bounding volumes in dependence on the respective segments, providing respective movements of the respective segments in the Cartesian space, ascertaining for each segment spatial elements to be passed through as a result of the respective movements provided, determining for each segment respective overall bounding volumes as respective segment working zones on the basis of the ascertained spatial elements to be passed through, and providing the respective segment working zones for the projecting of a safety function of the safety-related monitoring.