• 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:
    METHOD TO CONTROL AT LEAST TWO ROBOTS. A method for controlling at least two robots (3, 4) having respective workspaces including at least one region in common comprises the fact that the workspace of each robot is modeled taking into account the objects present in the workspace of the robot defining one or more interference regions (IRs), each consisting of an elementary geometric figure. Interference regions are classified into the following three categories: robot presence without fault is always inhibited; monitored interference regions (MIRs) defined as regions of space where the robot's presence is accepted but controlled, the robot being pre-arranged to send a signal to the central control unit (7) whenever it enters a monitored region and whenever leaving a monitored region; and hybrid interference regions (HIRs), defined as regions of space that are capable of changing between a monitored region state and a forbidden region state as a function of an input signal sent to the robot by said central control unit. Each robot being pre-arranged to send to the central control unit (7) a first output signal, serving as a backup (...).
    公开号:BR102012010254B1
    申请号:R102012010254-4
    申请日:2012-04-30
    公开日:2021-04-20
    发明作者:Rosario Cassano；Bruno Cicciarello；Elena Grassi；Luca Lachello；Enrico Mauletti；Fabrizio Romanelli
    申请人:Comau S.P.A.；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a method for controlling at least two robots having respective work spaces including at least one region in common, prearranged in which is a central electronic unit for controlling the robots, provided for communication with the various robots and to govern robot movements preventing interference between robots in their common working region. Previous Technique
    [0002] In standard programming of an industrial cell with a number of robots that are to work in a divided space, it is necessary to define instructions within the program of each robot for the robot to perform the following operations in succession:
    [0003] Request to reserve for entry into the split region (an output signal to the control unit)
    [0004] Wait for the consent of the control unit to enter the split region (an input signal to the robot from the control unit)
    [0005] Presence within the split region (an output signal)
    [0006] Leave the split region
    [0007] The succession of these commands must be repeated in each individual part of the program in which a so-called programming “interblock” is foreseen (corresponding to a work step in the divided region). Management of the policy that regulates access to one or more divided regions is entrusted to the control unit (PLC), which takes on the task of governing the priority of robots that can gain access to said regions. In a simple example of a program in which only two robots share a common work area, the PLC, given a request for access from an RI robot, checks that it has no other requests pending from robot R2 and that robot R2 is not working on the divided region. If this is the case, access to the RI robot is allowed. Likewise, it is possible to reformulate the R2 robot's access policy. The above mentioned PLC access system can be schematically represented as shown in the attached Figure 1.
    [0008] Robot programs must, on their own part, be able to manage input signals (for access) and output signals (for communicating to the PLC reserve and presence or otherwise within the split region) in such a way to be able to manage the access policy to and out of the split regions properly. An example robot program is as follows: send(req_12,ON) wait(cons_12,ON) send(interf_12,OFF) send(req_12,OFF) MOVEFLY JOINT TO pnt0650xADVANCE MOVEFLY JOINT TO pnt0150xADVANCE MOVEFLY JOINT TO pnt0653xADVANCE MOVE JOINT , WITH CONDITION[spot(1,4661,1,FALSE)], ENDMOVE MOVEFLY JOINT TO pnt0444xADVANCE MOVEFLY JOINT TO pnt0443xADVANCE MOVEFLY JOINT TO pnt0442xADVANCE MOVE JOINT TO xtn0008X Send(interf_12,ON)
    [0009] As can be seen, signal req_12 is expected to be sent, which represents a request for access to interblock region 12. Following this signal, the system remains waiting for the cons_12 signal that must be sent by the PLC to allow access to the region of interblock. Once the go ahead has been obtained from the PLC, the robot sends the busy signal of the interference region interf_12 and sends the reserve signal req_12 to zero. Finally, after performing the movements, the robot sends the signal of the occupation of the interblock region interf_12 to zero.
    [00010] Given an architecture of the above type, the main limits are as follows:
    [00011] - if the robot programs flow is modified, it has a great similarity to adjust the system in incongruous situations; for example, if a robot is manually moved (in PROG) to a split region, the PLC is not “alert” of its presence, and this can cause a general malfunction of the interblock system, with the consequent likely impact between robots;
    [00012] - the complexity of the robot programs is particularly high so that for each unique interblock it is necessary to enter the instructions for reserve, alert, presence, and abandonment of the split region;
    [00013] - there is no real-time control of the robot's position to identify its presence in a divided region; disabling the robot's movement programs implies that in the programming there is no type of control to prevent collisions between robots;
    [00014] - the possible modification of the robot work programs necessarily implies whose consistent modification of the instructions taking into account the interblocks in each part of the program or programs;
    [00015] - an additional limit considers that the very frequent eventualities that the user must skip some instructions in the work program (a deviation that is prevalently done in the early stages of programming, to test the robots work programs) or that the user must move the error cursor within the program, skipping, for example, request operations for access or occupation of the interblock region. Purpose of the invention
    [00016] The purpose of the present invention is to overcome the above mentioned drawbacks. Invention Summary
    [00017] With a view to achieving said objective, the subject of the invention is a method for controlling at least two robots having respective working space including at least one region in common, pre-arranged in which is a central electronic unit for controlling the robots, provided to communicate with the various robots and to govern the robots' movements, preventing any interference between the robots in their common working region,
    [00018] said method being characterized by the fact that:
    [00019] - the workspace of each robot is modeled, taking into account the objects present in the robot workspace, defining one or more interference regions (IRs), each consisting of an elementary geometric figure;
    [00020] - the aforementioned regions of interference are classified into the following three different categories:
    [00021] - Prohibited interference regions (PIRs), defined as regions of space where the robot's presence must without fail always be inhibited, for example, taking into account the permanent presence of one or more objects with which the robot must not interfere;
    [00022] - monitored interference regions (MIRs), defined as regions of space where the robot's presence is accepted but controlled, the robot being pre-arranged to send a signal to the central control unit whenever it enters a region monitored and whenever it leaves a monitored region; and
    [00023] - hybrid interference regions (HIRs), defined as regions of space that are capable of changing between a monitored region state and a prohibited region state, as a function of an input signal to the robot sent by said unit central control;
    [00024] - each robot (3, 4) is pre-arranged to send to the central control unit (7) a first output signal, serving as an input reserve, whenever it is around the entrance to a hybrid region, and a second exit signal, serving as an entry/presence alert whenever it enters a hybrid region;
    [00025] - the state of each hybrid region is dynamically varied for each robot (3, 4), during robot operation, sending, from the central control unit (7), an input signal to the robot, which makes the hybrid region monitored or prohibited for said robot, depending on whether said hybrid region is free or otherwise from other robots.
    [00026] According to a further feature, when a hybrid region is switched to a given robot (3, 4) in a prohibited region state by sending said robot the aforementioned input signal from the central control unit (7), provided that the robot is moving in the direction of said region, it is decelerated in a controlled manner to the limit of the hybrid region, where the robot speed reaches zero, whereas, when the region is reactivated by means of a new input signal to the robot that sends the region in the monitored region state to the robot, the system automatically restores the robot movement, without blocking the pending robot movement in the case where it is still in progress.
    [00027] As can be seen, the method according to the invention is basically characterized by the fact that it controls the robots in parallel, instead of adopting the sequential operating mode of the known technique. In particular, the method of the invention, in addition to providing control of the workspace of each robot by means of a robot output signal, also provides for the possibility of managing activation/deactivation of inhibition to enter the hybrid region with an input to the PLC robot and more additionally provides the possibility of defining an additional output signal to the PLC to reserve entry into the hybrid region. The method further manages automatic stop and restart of robot movement by regulating the stop and restart speed of the robot so that it prevents sudden stops near the limit of the inhibited interference region and to restart robot movement as quickly as possible.
    [00028] Additional features and advantages of the invention will emerge from the subsequent description with reference to the accompanying drawings, which are provided purely by way of non-limiting example and in which:
    [00029] - Figure 1 illustrates the block diagram already described above, corresponding to the methods according to the known technique;
    [00030] - Figure 2 is a schematic perspective view showing a cell with two industrial robots having respective work spaces including divided regions; and
    [00031] - Figures 3-6 show different geometric figures used to define the interference regions in the workspace of each robot.
    [00032] With reference to Figure 2, a cell 1 provides a workstation with a bench 2 in which two robots 3, 4 perform operations, for example, to assemble and/or weld components. Robots 3, 4 are controlled by respective electronic control units 5 and 6, which are in turn both connected to a central electronic control unit 7 used to implement the method according to the invention. The central unit 7, for example, can be constituted by the PLC for controlling cell 1. However, the central control function can also be entrusted to one of the two units 5, 6 for controlling the individual robots. Additionally, in the present description and in the subsequent claims, where reference is made to at least two robots that can interfere with one another also the case of a multi-arm robot, in which at least two arms are controlled separately and can interfere with one another, is included. In this case, the single robot has a single control unit, in which the method of the invention is implemented.
    [00033] Robots 3, 4 have respective workspaces that include split region, which imply a potential risk of interference between the two robots. Objects are also present in robot workspaces (for example, the fixed bench 2) which makes the corresponding regions of their workspace completely inaccessible to robots.
    [00034] To face the problem of inference between each robot and the environment around it, according to the elementary geometric figures of the invention are defined, referred to as interference regions (IRs), for example, substantially in the form of cylinders (Figure 3), parallelepipeds (Figure 4), planes (Figure 5), or spheres (Figure 6), which are to be entered into the robot's work area so that it has a volumetric and spatial modeling consistent with the objects present within the space working robot. In figures 3, 4 and 6, the interference regions are constituted by volumes represented with dashed lines, contained within large volumes, represented with solid lines, which function as "alert" regions, within which the approach of a moving part from the robot to the boundary of the interference region is signaled. In the case of Figure 5, the interference region is constituted by a vertical plane. Plan B facing it delimits the boundary over which a warning signal is activated.
    [00035] In the method according to the invention it is possible to define up to a high number (for example up to 16) of interference regions. According to the invention, interference regions are classified into the following three different categories:
    [00036] - Monitored Interference Regions (MIRs)
    [00037] - Prohibited Interference Regions (PIRs)
    [00038] - Hybrid Interference Regions (HIRs)
    [00039] The monitored regions are volumes where the robot's present is controlled, and in the case where the robot accesses these regions, an output signal in the external direction (eg in the direction of a PLC) will be increased, and from it This way, in the case of the region output, said signal will be decreased (it is also possible to choose the output logic).
    [00040] Prohibited regions are volumes where the robot's presence must be flawlessly inhibited. Defining such a volume in the robot's working area implies continuous control of the robot's position in such a way as to prevent the area from being reached; this control is done regardless of the robot state (robot programming or robot automatic operation). This procedure prevents contact with the plate interference region/regions by automatically regulating the robot's speed based on its distance from the region. No output signal will be sent to PLC but in case if IR is reached, the system will generate an error and stop the robot.
    [00041] Finally, hybrid regions are volumes that can change their state from monitored to prohibited and vice versa based on the logical state of the input signal. Simultaneously, it is possible to define an output signal that works as a reserve for entering the region and another output signal for accessing the hybrid region. In this way, it is possible to manage in an innovative and versatile way (as compared to the prior art) in the interblocks as described in the previous paragraph. When hybrid regions have been made prohibited by the input, they still have the characteristic of inducing in the robot a controlled deceleration as far as the region boundary, where the robot speed reaches zero. Once the region is re-enabled by the input, so that it is made monitored, the system automatically restores the robot's movement, without blocking the pending movement; since the region is monitored, at this point the system will communicate on the outside through the output the presence or otherwise of the robot within the reserve area or within the interference region.
    [00042] Thanks to the arrangements mentioned above, the invention allows an advanced programming of inetrblocks.
    [00043] The possibility of defining hybrid regions that can vary their state from monitored to prohibited allows an advanced management of the “classic” interblocks used in real robotic cells. The basic aspect of the invention is based essentially on the possibility of defining regions, with different shapes/geometries, which can be dynamically activated/deactivated by an input and which automatically manages adjustments of two types of outputs: an output from the reserve to enter the divided region and an exit from presence within the divided region itself. With these three signals, it is possible to keep the PLC access policy management represented in Figure 1 unchanged (providing a not indifferent advantage with regard to compatibility aspects with current systems), destically simplifying, however, management of the interblocks within the programs of robot. In fact, after defining the hybrid interference regions (which here represent the workspace divided between two or more robots), it is sufficient to associate the correct inputs and outputs to the interference regions declared in the program in such a way that they can be handled by the PLC. Reproduced below is an example of programming a spherical hybrid interference region: IR_SET(IR_RESERVATION,$FMO[1],1,1,ON) IR_SET(IR_PRESENCE,$FMO[1],2,1,OFF) IR_SET(IR_CONSENT ,$FMI[1],1,1,ON) IR_CreateSphere(pnt0007P,200,1,1) IR_SWITCH(ON,1) MOVEFLY JOINT TO pnt0650x ADVANCE MOVEFLY JOINT TO pnt0150x ADVANCE MOVEFLY JOINT TO pnt0653x ADVANCE MOVE JOINT TO wp4661 WITH CONDITION [spot)1,4661,1,FALSE], ENDMOVE MOVEFLY JOINT TO pnt0444x ADVANCE MOVEFLY JOINT TO pnt0443x ADVANCE MOVEFLY JOINT TO pnt0442x ADVANCE MOVE JOINT TO xtn0008X
    [00044] The first three instructions indicated above serve to declare that the interference region is of a hybrid type and to define in which outputs and inputs the holes for reserve, presence, and request for access are to be mapped. The IR_CreateSphere(...) instruction has the purpose of defining in the robot's workspace a spherical hybrid interference region associated with which are the previously declared outputs and inputs. It should be noted that the region declaration is carried out only once at the beginning of the program and will make interblock management fully automatic, irrespective of the program flow itself, in which no explicit instructions will no longer be present in the sending and waiting for signals (different of the solution according to the known art).
    [00045] In an operating condition (whether in robot programming step or robot automatic operating step), the system will automatically check the state of the hybrid interference regions, adjusted by the incoming input. In this way, if access to an interference region is inhibited by a robot (by setting, for example, the input to 0), it will not be possible to enter the section autonomously, in the case where, for example, any movement programming is being executed in the robot, and likewise entering will be inhibited to the robot also when a human operator programming the robot tries to bring the robot into the inhibited region. The robot's behavior in both cases is to perform a controlled deceleration to bring it to zero speed as it approaches the prohibited interference region, with a reduction of the proportional overall substitution to the distance from the nearest point between the Tool Center Point of the robot and the interference region.
    [00046] The innovation introduced with hybrid interference regions mainly concerns the possibility of automatically restoring robot movement by giving an input change to control the state of the hybrid IR. In other words the robot is able to autonomously resume the movement (with a smooth increase in substitution) that precedes arrest in the vicinity of inhibited IR, in the case where the input signal was to go from 0 (inhibition condition for input) to 1 (access condition allowed).
    [00047] As is evident from the above-mentioned description, the method according to the invention is basically characterized by the fact that it controls the robots in parallel, rather than adopting the sequential operating mode according to the known technique. In particular, the method according to the invention, in addition to prevention control of the workspace of each robot by means of a robot output signal, also prevents the possibility of activation/deactivation of inhibition management to enter the hybrid region with an input to the PLC robot and more additionally provides the possibility of defining an output signal for the PLC to reserve input in the hybrid region. The method also manages automatic stopping and resuming of robot movement, regulating the arresting speed and resuming the robot in such a way as to prevent sudden stops near the limit of the inhibited interference region and to resume robot movement as quickly as possible.
    [00048] Of course, without prejudice to the principle of the invention, construction details and modalities may vary widely with respect to what is described and illustrated here purely by way of example, without then departing from the scope of the present invention.
    权利要求:
    Claims (2)
    [0001]
    1. Method for controlling at least two robots (3, 4) having respective working spaces including at least one pre-arranged common region in which is a central electronic unit (7) for controlling the robot, provided to communicate with the various robots (3, 4) and to govern the robots' movements, preventing any interference between them in their common working region, said method being characterized by the fact that: - the working space of each robot is modelled, taking in counts the objects present in the robot's workspace, defining one or more interference regions (IRs), each consisting of an elementary geometric figure; - the mentioned interference regions are classified into the following three different categories: - Prohibited interference regions (PIRs), defined as regions of space where the robot's presence must without fail always be inhibited, for example, taking into account the permanent presence of one or more objects with which the robot must not interfere; - monitored interference regions (MIRs), defined as regions of space where the robot's presence is accepted but controlled, the robot being pre-arranged to send a signal to the central control unit whenever it enters a monitored region and always that he leaves a monitored region; and - hybrid interference regions (HIRs), defined as regions of space that are capable of changing between a monitored region state and a prohibited region state, as a function of an input signal to the robot sent by said control unit central; - each robot (3, 4) is pre-arranged to send to the central control unit (7) a first output signal, serving as an input reserve whenever it is about to enter a hybrid region, and a second signal exit, serving as an entry/presence alert whenever it enters a hybrid region; - the state of each hybrid region is dynamically varied for each robot (3, 4), during robot operation, sending, from the central control unit (7), an input signal to the robot, which makes the hybrid region monitored or prohibited for said robot, according to whether said hybrid region is free or otherwise from other robots.
    [0002]
    2. Method according to claim 1, characterized in that when a hybrid region is switched to a given robot (3, 4) in a prohibited region state sending said robot the above mentioned input signal from the unit of central control (7), as long as the robot is moving in the direction of said region, it is decelerated in a controlled manner to the limit of the hybrid region, where the robot speed reaches zero, while, when the region is reactivated by means of a new input signal to the robot that sends the region in the monitored region state to the robot, the system automatically restores the robot movement, without blocking the pending robot movement in the case where it is still in progress.
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    法律状态:
    2014-04-01| B03A| Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]|
    2018-12-11| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-12-10| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-03-09| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
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    IT000994A|ITTO20110994A1|2011-10-31|2011-10-31|METHOD FOR THE CONTROL OF AT LEAST TWO ROBOTS WITH RESPECTIVE WORKING SPACES INCLUDING AT LEAST ONE COMMON REGION|
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