• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    In order to detect a leaving of working areas (WS) or entering of security areas (SS) by kinematics (1) with less computational effort and thus faster, at least a part of the kinematics (1) with a number of kinematics objects (K1 , K2, K3, K4) and a monitoring area (S) to be monitored is predefined. The number of kinematics objects (K1, K2, K3, K4) is modeled with a dimension D <2, for each modeled kinematics object (K1, K2, K3, K4 ), a geometric size of a monitor area (S) is changed by a distance (d1, d2, d3, d4). The distance (d1, d2, d3, d4) is derived in each case from at least one geometric parameter (P1, P2, P3) of the modeled kinematic object (K1, K2, K3, K4). The position of the number of kinematics objects (K1, K2, K3, K4) is checked in each case in relation to the changed monitoring areas (S1, S2, S3, S4).
    公开号:AT518498A1
    申请号:T50256/2016
    申请日:2016-03-29
    公开日:2017-10-15
    发明作者:Dipl Ing Kapeller Thomas；Dipl Ing Dirschlmayr Thomas
    申请人:Bernecker + Rainer Industrie-Elektronik Ges M B H；
    IPC主号:
    专利说明:

    Position monitoring of a kinematics
    The subject invention deals with a method for monitoring the position of a kinematics, wherein at least part of the kinematics is decomposed into a number of kinematics objects and a monitoring area to be monitored is specified.
    As robotic manufacturing processes are to be implemented in smaller and smaller spaces, the work areas of robots (commonly referred to as kinematics) often overlap those of other objects such as fixed installations, robots, machines, or people. Kinematics are understood as meaning both serial kinematics and parallel kinematics, but also mixtures thereof, wherein serial or parallel kinematics comprise in a known manner a number of joints connected to one another via rigid connecting elements, serially or in parallel (for example tripod or hexapod). To guarantee a smooth process, it must therefore be ensured that no collisions occur between a robot and other objects in these shared workspaces. Likewise, workspaces defined for robots or defined safety areas are often defined that are not left by the robot, or parts thereof, or may not be passed. In particular, due to high and increasing security requirements, the protection of people and objects must be ensured.
    There are already various models of collision monitoring, which usually represent a compromise between accuracy, flexibility and required computing power. In most cases, both robot (parts) and workspace boundaries are approximated by means of geometric bodies (spheres, pyramids, voxels), and during the movement of the robot it is constantly checked whether there are spatial intersections between these geometric bodies. Thus, it is ensured that a robot does not leave a certain workspace or does not enter a certain security area (safe space). This is usually accomplished by calculating intersection / intersection / intersections of geometric bodies (e.g., between a robotic arm and a safety area), but this is computationally expensive. DE 10 2007 037 077 A1, for example, determines whether in a future pose a three-dimensional envelope enters a border zone, DE 10 2004 019 888 B2 models robot parts in the form of balls and also checks the penetration of the balls into safety areas. Especially in the field of security, however, a lower computational effort and thus a fast response time are desirable. The shorter the reaction time, the later the robot has to react to critical situations.
    It is therefore the object of the present invention to provide a method to detect a leaving of work areas, or entering of security areas by kinematics with less computational effort and thus faster.
    This object is achieved by modeling a number of kinematics objects having a dimension D <2 and changing a geometric size of a surveillance area by one distance for each modeled kinematics object, the distance being derived from at least one geometric parameter of the modeled kinematics object. The position of the number of kinematics objects is checked in relation to the changed monitoring areas. The geometric size preferably corresponds to a geometric dimension of the monitoring area. This changes the extent of the monitoring area by changing the geometric size.
    As a parameter, for example, the maximum diameter or the maximum spatial extent of a modeled part of a kinematics can be specified, in which case the distance of the monitoring area from the defined parameter in the form of the maximum diameter or the maximum spatial extent results over a known relationship, e.g. by the distance corresponds to half the maximum diameter.
    In the case of a rectangular modeled part of a kinematics, the maximum diameter can be calculated as a parameter, for example, from two further parameters in the form of the side lengths of the rectangle. The distance can then be calculated in turn via a known relationship from the parameter in the form of the maximum diameter.
    At least one kinematics object can represent a part of the kinematics, but also an area outside the kinematics. However, in contrast to known methods, no kinematics object is modeled as a three-dimensional geometric body. Instead, relevant geometric information of the modeled kinematic object (e.g., dimensions of a robotic arm, tool, etc.) is used and applied to the surveillance area to be monitored (allowed work area or forbidden security area). As part of this procedure, the surveillance area is increased (in the case of the security area) or reduced (in the case of the work area). This has the consequence that no intersections of two three-dimensional geometric bodies have to be calculated, but only the intersection of a kinematics object of dimension smaller than two (point or line) with a zero-one, two, or three-dimensional monitoring area. Thus, for each modeled kinematic object, the relevant monitoring area is modified by inserting / subtracting a distance, but not the kinematic object itself. Therefore, the kinematic object does not have to be treated as a two-dimensional or three-dimensional object. The insertion of the distance can take place on all sides of the monitoring area or only on isolated sides, or the pages facing the kinematics object. This safety check is preferably performed absolutely independently of the dynamic properties of the kinematic object (e.g., the robot), such as mass, inertia, etc., and regardless of the current or future trajectory of the subject kinematics object.
    At least one kinematic object can be modeled with the dimension zero. Thus, the number of kinematic objects represent points, such as hubs of a robot joint, tips of a tool, etc.
    At least one kinematic object can be modeled with a dimension one.
    The kinematics object with dimension one can be composed of two modeled point-shaped kinematics objects with a dimension zero and a defined distance between them.
    The monitoring area to be monitored can represent a point, a line, a surface or a body and can also be composed of individual sub-monitoring areas, which then each have to be monitored with regard to the number of kinematics objects.
    Advantageously, the surveillance area constitutes a security area, whereby the size of the security area for each modeled kinematics object is increased by the distance. If the security area represents a rectangle or a cuboid, then the rectangle or the cuboid is enlarged by the distance calculated by the geometric parameter of the kinematics object, for example by extending the rectangle sides or cuboid sides by the distance. In this case, the corners of the rectangle or the cuboid can again be corners or rounded.
    Alternatively, the monitoring area is a work area, which reduces the size of the work area by a distance. If the working area is e.g. is a rectangle, the rectangle (e.g., the page lengths or the half page lengths, ...) is reduced by the distance given by the geometric parameter of the kinematic object.
    This change can be made on all sides of the surveillance area, either in the presence of a work area or in a security area, or even on isolated pages, such as in the surveillance area. the side facing the object. If the monitoring area is a circle, then the radius or diameter of the circle can be changed by the distance, or the radius or diameter of the circle can only be changed in the direction of the object, whereby the circle is naturally deformed. Of course, the same considerations apply to other monitoring areas of dimension two, as well as surveillance areas of dimension one (lines) or three (body).
    The geometry of the monitoring area to be changed is determined in advance, but can also be changed during operation. Basically, the monitoring area is defined by the kinematics themselves and the movement of the kinematics (permitted movement areas, obstacles) to be performed. However, this basic geometry can also be adapted, for example, based on an expected deviation between a calculated position and a real position of the modeled kinematic object. This expected deviation may in turn result from known error response times, differential quotients, discretization errors, extrapolation inaccuracies, computational inaccuracies, encoder and / or coupling resolutions, offset errors, mechanical deformations, etc.
    The distance for each kinematic object may e.g. exist in a kinematic table, whereby the kinematic object is assigned a clear distance for the considered work area.
    A great advantage of the method according to the invention is the high accuracy. In addition, in the case of a tabular deposition of the parameters of the respective kinematics objects in relation to the monitoring areas, a high degree of flexibility is given.
    The subject invention will be explained in more detail below with reference to Figures 1 to 4, which show by way of example, schematically and not by way of limitation advantageous embodiments of the invention. It shows
    1 shows a modeled part of a robot arm
    2a-d a security area with four kinematic objects
    3a-e a work area with four kinematics objects.
    In FIG. 1, a two-dimensional part of a robot arm (henceforth referred to as robot arm) is shown as part of a kinematics 1, here a serial kinematics, for simpler representation, the dashed lines describing the spatial boundary of the robot arm 1. The kinematics 1, or a part thereof, according to the invention with zero-dimensional (OD) or one-dimensional (1d) objects, ie with a dimension D <2, subsequently modeled as kinematics objects. In the example of Fig. 1, the robot arm 1 by three point-shaped (Od) kinematics objects K1, K2, K3, which represent the hinge hubs of the robot arm 1 in this case, described. Of course, the modeled kinematics objects K1, K2, K3 could also describe objects to be considered that are outside of the kinematics, but are still considered part of the kinematics. However, it is also possible to use a simplified form of a wire frame model for modeling the kinematics 1. Thus, linear (1 d) kinematics objects K 4 are modeled, as shown in FIG. 1 by the connecting line between the first point-shaped kinematics object K 1 and the second point-shaped kinematics object K 2. A linear (1 d) kinematic object K4 preferably connects two punctiform (Od) kinematic objects K1, K2 or K2, K3. In the exemplary embodiment according to FIG. 2b-c, the point-shaped kinematics objects K1, K2, K3 are considered, in FIG. 2d the linear kinematics object K4.
    The extension to a wireframe model is optional, as is a possible parameterization of the line spacing of two point-shaped kinematics objects K1, K2, K3. This parameterization and the extension to a wireframe model can be performed separately for each kinematic object K1, K2, K3, K4.
    In Fig. 1 also a predetermined security area SS as monitoring area S can be seen. The predetermined security area SS results for example from the site and the environment of the kinematics 1 on site and is defined in advance, or can be assumed to be predetermined. A safety function of a kinematics 1 ensures that the kinematics 1 (or a part thereof) does not penetrate into the safety area SS or leaves a defined working area WS of the kinematics 1. The safety function is implemented, for example, in the control of the kinematics 1, but can also supplement the control of the kinematics 1 as an independent module. In the illustrated exemplary embodiment, the security area SS represents a rectangle with the side lengths r1, r2, or half the side lengths r1 / 2, r2 / 2. In the case of a three-dimensionally moved robot arm, the security area SS could, of course, also be defined in three dimensions.
    According to the prior art, to implement this safety function, the kinematics 1, or a part thereof, would be modeled as a three-dimensional object or a sum of three-dimensional objects, whereby a section of the object or objects would have to be calculated with the safety area. However, this review is very computationally intensive.
    According to the invention, therefore, at least part of the kinematics 1 is modeled as a number of kinematics objects K1, K2, K3, K4, each having a dimension smaller than two (D <2), e.g. in the form of a wireframe model. The position and position of the kinematics objects K1, K2, K3, K4 in space always results clearly from the known geometry and loading movement of the kinematics 1 and can therefore be assumed to be known. Since the safety function is generally integrated in the control of the kinematics 1, or at least is connected to it, the safety function can always access the current positions and positions of the kinematics objects K1, K2, K3, K4.
    In order to be able to monitor the safety area SS despite the modeling of the kinematics 1 according to the invention, a defined or parameterizable geometric parameter P1, P2, P3, P4 is now used for each kinematics object K1, K2, K3, K4 and the prescribed safety area SS is thereby changed. By way of example, the parameters P1, P2, P3, P4 each use a maximum diameter of the respective part of the kinematics 1 on the number of kinematics objects K1, K2, K3, K4 (the articulated hubs or a part of the robot arm). The kinematics 1 (or a part thereof) is "reduced" by the modeling, which is expressed by the parameters P1, P2, P3, P4. If, in return, the security area SS / work area WS is enlarged / reduced in dependence on this parameter P1, P2, P3, P4, the modeling of the kinematics 1 in the form of kinematics objects K1, K2, K3, K4 can be compensated for the realization of the safety function " become.
    The geometric parameter P1, P2, P3, P4 may be e.g. From a stored assignment table, which can be parameterized in advance on the basis of the known geometry of kinematics 1, follow. For each modeled kinematic object K1, K2, K3, K4, a first, second and third distance d1, d2, d3, d4 is calculated or derived from the geometrical parameter P1, P2, P3, P4 (here, for example, a diameter). In this case, the parameter P1, P2, P3, P4 in a simple embodiment also directly correspond to the respective distance d1, d2, d3, d4, optionally with a predetermined safety margin. Thus there is one for the distance d 1, d2, d3, d4 at least one characteristic parameter P1, P2, P3, P4, whereby a given, known or derivable function f (P1), f (P2), f (P3) , f (P4) the distance d1, d2, d3 d4 can be calculated with d1 = f (P1), d2 = f (P2), d3 = f (P3), d4 = f (P4). If, for example, the part of kinematics 1 has a rectangular cross-section with the side lengths a and b as further parameters, then the parameter of the maximum diameter results from the other parameters, in the form of the root of a2 + b2. The distance d1, d2, d3 d4 then again results from the parameter of the diameter via a relationship, e.g. in that the distance d1, d2, d3 d4 corresponds to half the diameter. The distance d1, d2, d3, d4 changes for each kinematic object K1, K2, K3, K4 at least one geometric size G (here half the side lengths r1 / 2, r2 / 2) of the security area SS and thus leads to the changed security areas S1, S2, S3, S4. In the illustrated case, therefore, the geometric quantity G in the form of half the side lengths r1 / 2, r2 / 2 (not explicitly drawn in FIG. 2 for clarity) is changed by the distance d1, d2, d3, d4, thus bringing the rectangle in total each page is changed twice the distance 2 * d1,2 * d2, 2 * d3, 2 * d4. Thus, the distance d1, d2, d3, d4 can be desirably derived from the parameter P1, P2, P3, P4 according to necessity. Likewise, depending on the necessity, the geometrical variable G to be changed can be selected, here for example half the side lengths r1 / 2, r2 / 2. Thus, the security area SS is changed individually for each modeled kinematics object K1, K2, K3, K4, and each modeled kinematics object K1, K2, K3, K4 is assigned its own changed monitoring area S1, S2, S3, S4 (here security area). In FIG. 2a, half the side lengths r1 / 2, r2 / 2 are thus increased by the first distance d1 for the first modeled kinematics object K1, which leads to the changed monitoring area S1. Likewise, in FIGS. 2b-d, for the second, third or fourth kinematics object K2, K3, K4, half the side lengths r1 / 2, r2 / 2 are calculated as the geometric variable G by the second, third or fourth distance d2. d3, d4 increases, which leads to the monitoring areas S2, S3, S4.
    Now, the position and position of each monitored, modeled kinematic object K1, K2, K3, K4 in space is checked for the safety function in relation to the respectively assigned modified monitoring area S1, S2, S3, S4. If, in the example according to FIG. 2, a modeled kinematic object K1, K2, K3, K4 is in the changed monitoring area S1, S2, S3, S4, then the monitored monitoring area of the kinematics 1 (here the security area SS) is violated, as shown in FIG for the third kinematics object K3 in conjunction with the third modified surveillance area S3 and in FIG. 2d for the fourth kinematics object K4 in conjunction with the fourth changed surveillance area S4. For Id objects as kinematic object K1, K2, K3, K4, intersection points of a straight line with a surface or a space are to be checked. For OD objects, it is easy to check if a point lies within a surface or a space. Both reviews can be done with very little computational effort.
    Of course, a plurality of distances d 1, d2, d3, d4 per kinematics object K1, K2, K3, K4 can also be calculated for the monitoring area S, for example, in the case of a rectangular monitoring area S, the side lengths r1, r2, or half the side lengths r1 / 2, r2 / 2, to change differently. Likewise, the surveillance area S may represent a line (dimension one), or a body (dimension three) instead of the area (dimension two). In this case, the position of the number of kinematics objects K1, K2, K3, K4 must also be checked in relation to the monitoring area S, for example in the form of a section.
    In FIG. 3a-d, an analogous method for a working area WS as monitoring area S is shown. The work area WS defines an area which may not be left by the kinematics 1 or a part thereof. Therefore, the distances d1, d2, d3, d4 reduce the at least one geometric variable G, ie half the side lengths r1 / 2, r2 / 2 (not explicitly drawn in FIG. 3 for the sake of clarity) in the illustrated embodiment. The examination of the position and position of each monitored modeled kinematic object K1, K2, K3, K4 in relation to the respective modified monitoring area S1, S2, S3, S4 is analogous to the security area SS in Figure 2, but with the difference of a range violation exists when a modeled kinematics object K1, K2, K3, K4 lies outside of the changed monitoring area S1, S2, S3, S4, as shown in FIG. 3d for the third kinematics object K3 in relation to the changed surveillance area S3 and in FIG. 3e for the fourth kinematics object K4 in FIG Relation to the changed monitoring area S4 is the case.
    Of course, several different monitoring areas S can be defined. For example, For example, each kinematics object K1, K2, K3, K4 or a plurality of kinematics objects K1, K2, K3, K4 can have their own assigned monitoring area S. According to the invention, in turn, the associated monitoring area S for the respective kinematics object K1, K2, K3, K4 is changed and checked for infringement.
    权利要求:
    Claims (11)
    [1]
    claims
    1. A method for monitoring the position of a kinematics (1), wherein at least part of the kinematics with a number of kinematics objects (K1, K2, K3, K4) is modeled and a monitoring area to be monitored (S) is specified, characterized in that the number of kinematics objects (K1, K2, K3, K4) are modeled with a dimension D <2, that for each modeled kinematics object (K1, K2, K3, K4) at least one geometric size of the monitoring area (S) by a distance (d1, d2, d3 , d4), wherein the distance (d1, d2, d3, d4) is derived in each case from at least one predetermined geometric parameter (P1, P2, P3, P4) of the modeled kinematic object (K1, K2, K3, K4), and in that For position monitoring, the position of the number of kinematics objects (K1, K2, K3, K4) is checked in relation to the changed monitoring areas (S1, S2, S3, S4).
    [2]
    2. The method according to claim 1, characterized in that at least one kinematics object (K1, K2, K3) is modeled with the dimension zero.
    [3]
    3. The method according to claim 1, characterized in that at least one kinematics object (K4) is modeled with a dimension one.
    [4]
    4. The method according to claim 1 or 3, characterized in that the kinematic object (K4) with a dimension one each composed of two modeled point-shaped kinematics objects (K1, K2) of a dimension zero and a defined distance therebetween.
    [5]
    5. The method according to any one of claims 1 to 4, characterized in that at least one kinematics object (K1, K2, K3, K4) models an area outside the kinematics (1).
    [6]
    6. The method according to any one of claims 1 to 5, characterized in that the monitoring area (S) represents a line.
    [7]
    7. The method according to any one of claims 1 to 5, characterized in that the monitoring area (S) represents an area.
    [8]
    8. The method according to any one of claims 1 to 5, characterized in that the monitoring area (S) represents a body.
    [9]
    9. The method according to any one of claims 1 to 8, characterized in that the monitoring area (S) represents a security area (SS) and the size of the security area (SS) for each modeled kinematics object (K1, K2, K3, K4) to the Distance (d1, d2, d3, d4) is increased.
    [10]
    10. The method according to any one of claims 1 to 8, characterized in that the monitoring area (S) represents a work area (WS) and the size of the work area (WS) for each modeled kinematics object (K1, K2, K3, K4) by the distance (d1, d2, d3, d4) is reduced.
    [11]
    11. The method according to any one of claims 1 to 10, characterized in that the geometry of the monitoring area (S) is adjusted based on an expected deviation between a calculated position and a real position of the kinematic object (K1, K2, K3, K4).
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    同族专利:
    公开号 | 公开日
    EP3225366A2|2017-10-04|
    CA2962670A1|2017-09-29|
    US20170282370A1|2017-10-05|
    EP3225366A3|2017-12-13|
    AT518498B1|2018-09-15|
    引用文献:
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50256/2016A|AT518498B1|2016-03-29|2016-03-29|Position monitoring of a kinematics|ATA50256/2016A| AT518498B1|2016-03-29|2016-03-29|Position monitoring of a kinematics|
    US15/471,265| US11279034B2|2016-03-29|2017-03-28|Position monitoring of a kinematic linkage|
    CA2962670A| CA2962670A1|2016-03-29|2017-03-28|Position monitoring of a kinematic linkage|
    EP17163226.8A| EP3225366A3|2016-03-29|2017-03-28|Monitoring of the position of a kinematic|
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