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WO2008116595A2 - Appareil à main de programmation de robot - Google Patents

Appareil à main de programmation de robot Download PDF

Info

Publication number
WO2008116595A2
WO2008116595A2 PCT/EP2008/002245 EP2008002245W WO2008116595A2 WO 2008116595 A2 WO2008116595 A2 WO 2008116595A2 EP 2008002245 W EP2008002245 W EP 2008002245W WO 2008116595 A2 WO2008116595 A2 WO 2008116595A2
Authority
WO
WIPO (PCT)
Prior art keywords
operator
signal
spatial orientation
angular range
outside
Prior art date
Application number
PCT/EP2008/002245
Other languages
German (de)
English (en)
Other versions
WO2008116595A3 (fr
Inventor
Thomas Kohler
Original Assignee
Kuka Roboter Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kuka Roboter Gmbh filed Critical Kuka Roboter Gmbh
Publication of WO2008116595A2 publication Critical patent/WO2008116595A2/fr
Publication of WO2008116595A3 publication Critical patent/WO2008116595A3/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0247—Determining attitude
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
    • G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00—Transmission systems of control signals via wireless link
    • G08C2201/70—Device selection
    • G08C2201/71—Directional beams

Definitions

  • the invention relates to a method for operating a, in particular at least one industrial robot comprehensive, technical system, wherein the system is remotely controlled by a guided by a mobile operator control device.
  • the invention relates to a device for monitoring the operation of a, in particular at least one industrial robot comprehensive, technical system, wherein the system is remotely controlled by a guided by a mobile operator control device.
  • the invention relates to an operating device, as well as a technical system with a device for monitoring their operation.
  • An operating device for operating one or more robots of a technical system has various operating elements, such as switches, buttons, adjusting wheels, PC mice or similar handling devices, such as a 6D mouse previously known for example from DE 103 05 384 A1 Help a movement-technical and also procedural manipulation of individual robots is possible.
  • a so-called "teaching" of a robot can be carried out, in which by manual operation by an operator a certain movement sequence or a process sequence is programmed.
  • a screen arranged on the operating device or elsewhere is usually provided, for example in the form of a colored display.
  • WO 03/036324 a technical system with an industrial robot is known, which is operated via a wireless control unit.
  • a "positioning system" is integrated into the wireless operator control device, which detects the spatial position of the operating device with respect to the manipulated robot on the basis of transmitting and receiving radio waves from a plurality of differently positioned reference stations.
  • the goal pursued is to prevent a possible remote control of the robot in the event of an abandonment of the operator from a defined working space.
  • a programming of the robot in this fortgewandter position is possible, as long as the HMI device is located in the defined workspace. The difficulty of an easy detection of a robot to be operated, and the associated accident risk, thus continue to exist.
  • the invention is based on the object, starting from the aforementioned prior art while avoiding the disadvantages mentioned, an operation of a technical system in a remote position of the operator bezüg- borrowed to be manipulated part of the system, in particular a robot to effectively prevent.
  • the object is achieved with a method of the type mentioned above, which is characterized by detecting the operator with respect to their spatial orientation within or outside a predetermined angular range, which extends around a connecting line between the current location of the operator and the system , with a spatial orientation tion of the operator within / outside the Winkelbe ⁇ empire the remote control is activated / deactivated.
  • a device of the type mentioned which has a transmitting / receiving device between the location of the operator and the location of the system, for detecting the operator with respect to their spatial orientation within or outside a predetermined angle range, as well Means for activating / deactivating the remote control depending on the spatial orientation of the operator within / outside the angular range.
  • the solution according to the invention makes it possible to operate an appropriate functional subarea of the system, in particular of an industrial robot, only if the spatial orientation of the operator corresponds to the spatial position of the relevant subarea of the system within a predetermined angular range. In this way, an error detection or a confusion with a portion of the system can be minimized or excluded at another spatial position. Sources of danger that result from an error detection or erroneous position of the operator can be effectively avoided.
  • the detection of the operator with respect to a spatial orientation within / outside the predetermined angular range by sending and error / erroneous receiving a signal between the operator and the system.
  • the delimitation or separation line between error-free and error-prone reception is predetermined beforehand, in accordance with the predefined predetermined angular range, and can For example, a threshold value of a characteristic, such as the noise or the energy of the received signal correspond.
  • it can also be assessed on the basis of whether or not the reception has taken place, whether the spatial orientation of the operator is located within or outside the predetermined angular range.
  • the signal transmission takes place without a physical connection between the operator and the system.
  • the signal transmission via electromagnetic waves, such as light or micro or radio or radio waves.
  • electromagnetic waves such as light or micro or radio or radio waves.
  • sound waves is conceivable.
  • a specific embodiment of a device according to the invention provides that the transmitting device is formed at the location of the operator for transmitting a signal in a limited angular range.
  • the abovementioned transmission means in the form of waves are particularly suitable for this purpose, since the dimension and the course of the geometric region within which they propagate can easily be adapted to the desired conditions.
  • the deflection / scattering of the light via mirrors or lenses can be influenced.
  • the propagation of microwaves in particular in the form of a cone, can be influenced via the respectively selected transmitting antenna.
  • the receiving device at the site of the installation can be designed to receive the signal in an unlimited angular range in order to enable reception of any signal which has been sent from all possible spatial positions in the surroundings and in the direction of the receiving device.
  • the propagation direction of the signal transmitted in a limited angular range preferably corresponds to the instantaneous spatial orientation of the operator.
  • the geometric extent of the transmitted signal corresponds to the amount of the geometric expansion of the predetermined angular range.
  • the transmitted signal may have a conical shape, so that the predetermined angular range, within / outside which an operation of the system is possible, corresponds to this conical shape.
  • the predetermined angular range of the orientation of the operator or of the operating device is arranged around the imaginary connecting line between the momentary position of the operator and the system, wherein the connecting line forms the angle bisector of the predetermined angle range.
  • the predetermined angular range can also essentially correspond to the connecting straight line, so that operation of the system is only possible if the orientation of the operator is aligned exactly in the direction of the connecting straight line.
  • a possible operation of the system is designed less restrictive. This is the case, for example, if the predefined angular range essentially corresponds to the field of vision of a person.
  • a maximum angle range between -30 ° and + 30 ° can be provided around the connecting straight line, which corresponds to the maximum field of view of an average person.
  • an angle range between -10 ° and + 10 ° is proposed around the connecting straight line through which the optimal field of view of an average person is formed.
  • Detecting the current viewing direction of the operator is technically extremely difficult to achieve. For this reason, it is proposed that the operator be detected with respect to the spatial orientation of their front body. This ensures that operation of the system is only possible if the front body is facing the relevant part of the plant and the field of view of the operator is directed in the direction of the front body. This is advantageous above all because carrying and manipulating the operating device generally takes place on the front body of the operating person, so that the operator is forced to both operate the operating device and to observe the relevant system part in the area of his field of vision perform.
  • the transmitting device of the device according to the invention is integrated into the operating device.
  • the invention also encompasses an operating device with an integrated transmitting / receiving device of a device according to the invention.
  • the operator is detected with respect to a spatial orientation within or outside the predetermined angular range by receiving at least two different spatial points of a transmitted signal between plant and operator.
  • the signal path can take place both from the location of the operator to the system and in the opposite direction.
  • one of the Ani- transmitted signal is received at least two different spatial points at the location of the operator. The basic idea here is thus to evaluate two or more different spatial points of received signals, in order to obtain conclusions about the spatial orientation of the operator with respect to the transmitting device on the basis of different receiving properties on closer or further distance from the transmitter.
  • a specific embodiment provides that the spatial orientation of the operator is determined by the transit time and / or energy difference of the signal received at the different spatial points.
  • a device according to the invention has a receiving device with at least two receivers at different spatial points.
  • the transmitting device at the site of the system and the receiving device are arranged at the location of the operator.
  • a request signal is sent between the operator and the system and, in the case of a successful reception, a release signal is sent back.
  • the returned enable signal corresponds to a post-reception, in particular by means of active or passive filters or colored mirrors, modified request signal. Since the spatial orientation of the operator has already been verified by transmitting and receiving the signal, the signal can be sent back in all directions.
  • FIG. 1 shows a perspective view of an industrial robot, which is remotely controlled by an operator by means of an operating device with a device according to the invention, the spatial orientation of the operator corresponding to an activated mode of the remote control;
  • Fig. 2 shows the industrial robot shown in Fig. 1 (a) and the operator, wherein the spatial orientation of the operator corresponds to a deactivated mode of the remote control;
  • FIGS. 1 (a) and 1 (b) shows the industrial robot and the operator shown in FIGS. 1 (a) and 1 (b), wherein the location of the operator is changed and the operator's spatial orientation corresponds to an activated mode of the remote control.
  • FIG. 1 shows an industrial robot 1 in the form of an articulated robot, which is remotely controlled by an operator 2 by means of an operating device 3.
  • the operator 2 is with her body front directly in front of the
  • the spatial orientation 4 of the operator 2 which corresponds essentially to an orthogonal vector to the front of the body of the operator 2, points in the direction of the front side of the industrial robot 1.
  • a transmitting device of a device according to the invention for operation monitoring is integrated.
  • a corresponding receiving device 5.2 is integrated in the industrial robot 1.
  • the HMI device 3 with the transmitter 5.1 is held by the operator 2 on its body front. Accordingly, the signal path of the signal 5.3 transmitted by the transmitting device runs essentially in the direction along the spatial orientation 4 of the operator 2.
  • the signal path 5.3 of the signal transmitted by the transmitting device 5.1 has a conical shape, and thus extends in a defined opening angle in the direction the spatial orientation 4 of the operator 2. Accordingly, a predetermined angular range is defined, over which the spatial
  • Orientation 4 of the operator 2 may extend, and yet a reception of the signal 5.3 at the receiving device 5.2 is possible. Only when the conical signal path 5.3 intersects the location of the receiving device 5.2, a signal transmitted by the transmitting device 5.1 is received and the remote control of the HMI device 5.1 activated. Only in this case, therefore, an operation or programming of the industrial robot 1 is possible.
  • the spatial orientation 4 of the operator 2 extends laterally past the industrial robot 1.
  • the signal 5.3 transmitted by the transmitting device 5.1 does not reach the receiving device 5.2, and consequently is not registered. In this case, the

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé de commande d'une installation technique comportant notamment au moins un robot industriel, ladite installation étant télécommandée par un appareil de commande porté par un opérateur mobile. L'invention concerne également un dispositif destiné à la mise en oeuvre du procédé. Pour une commande plus simple et plus sure, l'orientation spatiale de l'opérateur est détectée par rapport à son orientation à l'intérieur ou à l'extérieur d'une zone angulaire prédéfinie s'étendant autour d'une droite de connexion entre la position courante de l'opérateur et l'installation. Lorsque l'opérateur est orienté à l'intérieur ou à l'extérieur de la zone angulaire, la télécommande est activée/désactivée. Le dispositif selon l'invention comporte une unité d'émission/réception entre la position courante de l'opérateur et l'installation, destinée à détecter l'opérateur par rapport à son orientation spatiale à l'intérieur ou à l'extérieur d'une zone angulaire prédéfinie, ainsi qu'un élément d'activation/désactivation de la télécommande en fonction de l'orientation spatiale de l'opérateur.
PCT/EP2008/002245 2007-03-27 2008-03-20 Appareil à main de programmation de robot WO2008116595A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007014497.2 2007-03-27
DE200710014497 DE102007014497B4 (de) 2007-03-27 2007-03-27 Roboter-Programmierhandgerät

Publications (2)

Publication Number Publication Date
WO2008116595A2 true WO2008116595A2 (fr) 2008-10-02
WO2008116595A3 WO2008116595A3 (fr) 2008-12-18

Family

ID=39408043

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/002245 WO2008116595A2 (fr) 2007-03-27 2008-03-20 Appareil à main de programmation de robot

Country Status (2)

Country Link
DE (1) DE102007014497B4 (fr)
WO (1) WO2008116595A2 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018080383A1 (fr) * 2016-10-28 2018-05-03 Husqvarna Ab Appareil de détermination de connaissance d'opérateur et de déclenchement de mesures de précaution sur véhicule robotisé
WO2020048682A1 (fr) * 2018-09-03 2020-03-12 Finkbeiner, Gerhard Système de levage et procédé servant à commander le système de levage, ainsi que système de commande pour le système de levage
US10814484B2 (en) 2015-10-30 2020-10-27 Keba Ag Method, control system and movement setting means for controlling the movements of articulated arms of an industrial robot

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014200066A1 (de) * 2014-01-07 2015-07-09 Spinner Werkzeugmaschinenfabrik Gmbh Bediengerät für eine Werkzeugmaschine mit lageabhängiger Zuordnung von Bedienbefehlen zu einzelnen Bewegungsachsen der Werkzeugmaschine
JP5785284B2 (ja) * 2014-02-17 2015-09-24 ファナック株式会社 搬送対象物の落下事故を防止するロボットシステム
AT516665A1 (de) * 2014-11-24 2016-07-15 Keba Ag Bedienterminal mit absetzbarer Bedieneinheit zur Bedienung von Maschinen und technischen Anlagen

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10110776A1 (de) * 2000-03-17 2001-09-20 Keba Ag Linz Verfahren zur Zuordnung einer mobilen Bedien- und/oder Beobachtungseinrichtung zu einer Maschine sowie Bedien- und/oder Beobachtungseinrichtung hierfür
WO2003036324A1 (fr) * 2001-10-23 2003-05-01 Abb Ab Systeme de robot industriel
WO2003042947A2 (fr) * 2001-11-15 2003-05-22 Attila Murlasits Procede et dispositif de commande du fonctionnement d'appareils electromenagers
WO2003056531A1 (fr) * 2001-12-28 2003-07-10 Koninklijke Philips Electronics N.V. Telecommande universelle a identification automatique de l'appareil et programmation
DE10305384A1 (de) * 2003-02-11 2004-08-26 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Visualisierung rechnergestützter Informationen
WO2005031675A1 (fr) * 2003-09-30 2005-04-07 Koninklijke Philips Electronics, N.V. Telecommande universelle a identification des appareils commandes

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Publication number Priority date Publication date Assignee Title
WO2006130497A2 (fr) * 2005-05-27 2006-12-07 The Charles Machine Works, Inc. Determination de position d'operateur de telecommande

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10110776A1 (de) * 2000-03-17 2001-09-20 Keba Ag Linz Verfahren zur Zuordnung einer mobilen Bedien- und/oder Beobachtungseinrichtung zu einer Maschine sowie Bedien- und/oder Beobachtungseinrichtung hierfür
WO2003036324A1 (fr) * 2001-10-23 2003-05-01 Abb Ab Systeme de robot industriel
WO2003042947A2 (fr) * 2001-11-15 2003-05-22 Attila Murlasits Procede et dispositif de commande du fonctionnement d'appareils electromenagers
WO2003056531A1 (fr) * 2001-12-28 2003-07-10 Koninklijke Philips Electronics N.V. Telecommande universelle a identification automatique de l'appareil et programmation
DE10305384A1 (de) * 2003-02-11 2004-08-26 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Visualisierung rechnergestützter Informationen
WO2005031675A1 (fr) * 2003-09-30 2005-04-07 Koninklijke Philips Electronics, N.V. Telecommande universelle a identification des appareils commandes

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10814484B2 (en) 2015-10-30 2020-10-27 Keba Ag Method, control system and movement setting means for controlling the movements of articulated arms of an industrial robot
WO2018080383A1 (fr) * 2016-10-28 2018-05-03 Husqvarna Ab Appareil de détermination de connaissance d'opérateur et de déclenchement de mesures de précaution sur véhicule robotisé
US11385637B2 (en) 2016-10-28 2022-07-12 Husqvarna Ab Apparatus for determining operator awareness and for initiating precautionary measures on a robotic vehicle
WO2020048682A1 (fr) * 2018-09-03 2020-03-12 Finkbeiner, Gerhard Système de levage et procédé servant à commander le système de levage, ainsi que système de commande pour le système de levage
US11953883B2 (en) 2018-09-03 2024-04-09 Gerhard Finkbeiner Lifting system and method for controlling the lifting system and control system for the lifting system

Also Published As

Publication number Publication date
DE102007014497B4 (de) 2008-12-24
WO2008116595A3 (fr) 2008-12-18
DE102007014497A1 (de) 2008-10-09

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