CN-122029012-A - Collision risk information providing method using robot motion simulation and apparatus for performing the same

CN122029012ACN 122029012 ACN122029012 ACN 122029012ACN-122029012-A

Abstract

The present invention relates to a collision risk information providing method using robot motion simulation and an apparatus for performing the same, the method including the steps of providing a script composed of a plurality of instructions corresponding to robot motions, calculating a risk of each of the robot motions, and processing the script to display a first instruction corresponding to a motion in which the calculated risk exceeds a reference value and a second instruction corresponding to a motion in which the risk is lower than or equal to the reference value in different colors.

Inventors

WU ZAICHENG
Pei Xiaoren
LI JUNYU
ZHENG ENHAO
CUI SHOURONG

Assignees

株式会社虹之机器

Dates

Publication Date: 20260512
Application Date: 20240829
Priority Date: 20231121

Claims (17)

1. A collision risk information providing method using robot motion simulation, which provides collision risk information by simulating robot motion, is characterized in that, The method comprises the following steps: providing a script consisting of a plurality of instructions corresponding to the robot motion; Calculating the risk of each of the movements of the robot, and Processing is performed to display, in the provided script, a first instruction corresponding to the calculated motion of which the risk exceeds a reference value and a second instruction corresponding to the motion of which the risk is lower than or equal to the reference value in different colors.
2. The collision risk information providing method using robot motion simulation according to claim 1, wherein, The robot is capable of power and force limiting collaborative operations.
3. The collision risk information providing method using robot motion simulation according to claim 1, wherein, The method also comprises the following steps: displaying the calculated risk of each motion on the script.
4. The collision risk information providing method using robot motion simulation according to claim 1, wherein, The script is displayed on a teach pendant provided for the robot.
5. The collision risk information providing method using robot motion simulation according to claim 4, wherein, And displaying the script in a first area of a screen of the demonstrator, and displaying the virtual robot running according to the instruction contained in the script in a second area.
6. The collision risk information providing method using robot motion simulation according to claim 5, wherein, At a point in time when the first instruction corresponding to the calculated motion of which the risk exceeds the reference value is executed, a risk portion is identified in at least one of the script and the virtual robot.
7. The collision risk information providing method using robot motion simulation according to claim 1, wherein, The step of calculating the risk degree comprises the following steps: and calculating the risk of each motion by simulating the estimated force or the estimated pressure and the preset force limit value or the preset pressure limit value during the estimated collision of the motion of the robot.
8. The collision risk information providing method using robot motion simulation according to claim 7, wherein, The risk of each movement is calculated using the greater of the value of the pre-estimated force divided by the force limit and the value of the pre-estimated pressure divided by the pressure limit.
9. The collision risk information providing method using robot motion simulation according to claim 1, wherein, The processing and displaying step comprises the following steps: And displaying the executed instructions in one of a plurality of colors as the instructions contained in the script are sequentially executed.
10. The collision risk information providing method using robot motion simulation according to claim 9, wherein, Among the instructions contained in the script, the instructions corresponding to the motion currently being executed are displayed in a first color, Displaying the first instruction corresponding to the calculated motion of the risk exceeding the reference value in a second color among instructions included in the script, Displaying the second instruction corresponding to the calculated motion of which the risk degree is lower than or equal to the reference value in a second color.
11. The collision risk information providing method using robot motion simulation according to claim 1, wherein, The method also comprises the following steps: processing the robot to run according to instructions contained in the script, At a point in time when the first instruction corresponding to the calculated movement of the risk degree exceeding the reference value is executed, the robot stops moving.
12. A computer program stored on a computer readable recording medium for executing the method of any one of claims 1 to 11 in combination with hardware.
13. An apparatus for performing the method of any one of claims 1 to 11.
14. A robot motion simulation apparatus for simulating a robot motion capable of power and force limiting co-operation to provide collision risk information, comprising: A script providing module for providing a script composed of a plurality of instructions corresponding to the robot motion, and A risk calculating module for calculating the risk of each motion in the robot motion, The script providing module is further configured to: displaying the calculated risk of each motion on the script, and displaying a first instruction corresponding to a motion of which the calculated risk exceeds a reference value and a second instruction corresponding to a motion of which the risk is lower than or equal to the reference value in different colors.
15. The robot motion simulator of claim 14, wherein the robot motion simulator comprises a plurality of motion sensors, Displaying the script in a first area in a screen, displaying a virtual robot running according to instructions contained in the script in a second area, At a point in time when the first instruction corresponding to the calculated motion of which the risk exceeds the reference value is executed, a risk portion is identified in at least one of the script and the virtual robot.
16. The robot motion simulator of claim 14, wherein the robot motion simulator comprises a plurality of motion sensors, The risk of each movement is: By using the estimated force or the estimated pressure during collision estimated by simulating the movement of the robot and the preset force limit value or the preset pressure limit value, And calculating by using the larger value of the value obtained by dividing the estimated force by the force limit value and the value obtained by dividing the estimated pressure by the pressure limit value.
17. The robot motion simulator of claim 14, wherein the robot motion simulator comprises a plurality of motion sensors, The script providing module is further configured to: And displaying the executed instructions in one of a plurality of colors as the instructions contained in the script are sequentially executed.

Description

Collision risk information providing method using robot motion simulation and apparatus for performing the same Technical Field The present invention relates to a collision risk information providing method provided by simulating a robot motion to calculate a risk or the like when a surrounding object such as a worker collides with the surrounding object. Background A robot is a machine that is capable of automatically processing or performing specific tasks based on its own capabilities. The application fields of robots can be divided into industrial, service, medical, aerospace, subsea applications, etc. Among them, an industrial robot (industrial robot) is applied to the field of industrial automation, which is a multifunctional robot arm capable of automatic control and reprogramming, can be programmed in three or more axes, and can be fixed or mobile, and can include a hand-guided robot (hand-guided robot), a robot arm of a mobile robot, a cooperative robot (collaborating robots), and the like. Meanwhile, the industrial robot system (industrial robot system) may be configured to include the above industrial robot, the terminal device, and all machines, apparatuses, devices, additional axes, or sensors required for the robot to perform its tasks. In the machining industry such as automobile production, industrial robot systems have been put into operation in large numbers for repeatedly performing movements equivalent to human arm operations, and the use of industrial robots has been increasing in recent years due to the rise in labor costs. However, accidental contact with the personnel during operation of the industrial robot may result in death or serious injury. Accordingly, safety requirements for industrial robot systems and their working environments have been established. In addition, in order to secure the safety of the industrial robot system and its working environment, it is necessary to simulate the robot motion before actually using the industrial robot to confirm and reduce the probability and danger of collision with a worker or surrounding objects. Disclosure of Invention Technical problem The invention aims to provide a method for providing collision risk information by utilizing robot motion simulation and a device for executing the method, and the risk degree during collision is effectively displayed by simulating the robot motion. Technical proposal In order to solve the problems described above, a method of providing collision risk information by using robot motion simulation according to an embodiment of the present invention includes the steps of providing a script (script) composed of a plurality of instructions corresponding to the robot motions, calculating a risk of each of the robot motions, and processing to display a first instruction corresponding to a motion in which the calculated risk exceeds a reference value and a second instruction corresponding to a motion in which the risk is lower than or equal to the reference value in different colors in the provided script. The robot is capable of power and force limiting (PFL, power and Force Limiting) co-operation, and the script may be displayed on a teach pendant (TEACHING PENDANT) provided for the robot. The script is displayed in a first area of a screen of the teach pendant, the virtual robot operating according to instructions contained in the script is displayed in a second area, and a dangerous part can be identified in at least one of the script and the virtual robot at a time point when the first instruction corresponding to the calculated motion of the dangerous degree exceeding the reference value is executed. The step of calculating the risk may include the step of calculating the risk of each motion using a predicted force or a predicted pressure at the time of collision predicted by simulating the motion of the robot and a preset force limit or pressure limit. The step of processing the display may include the step of displaying the executed instructions in one of a plurality of colors as the instructions contained in the script are sequentially executed. At least a part of the method of providing collision risk information by using robot motion simulation may be implemented as a computer-readable recording medium recording a program executed on a computer, or may be provided as the program itself. On the other hand, the method of providing collision risk information by using robot motion simulation may be performed by an apparatus according to an embodiment of the present invention. A robot motion simulation device according to an embodiment of the present invention is a device for simulating a robot motion capable of Power and Force Limitation (PFL) co-operation to provide collision risk information, including a script providing module providing a script composed of a plurality of instructions corresponding to the robot motion, and a risk calculating module calculating a risk of each of the robot motions, th