JP2835189B2 - Robot interference detection device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[Object of the invention]

[0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot interference detecting device for checking whether or not a robot and surrounding structures interfere with each other when the robot is driven.

[0003]

2. Description of the Related Art In places where the working environment is poor, there is a high demand for remote devices and robots in place of workers, and various remote devices and robots are being researched and developed. In these remote devices and robots, if the robots move and perform work and the surrounding structures and the robots interfere with each other and cause damage, it may lead to a major disaster. It is necessary to check whether or not.

For this reason, in a complicated environment in which a large number of devices and pipes are present, for example, in a robot operating in a nuclear power plant or a chemical plant, when the robot is driven, interference between the robot and a structure and the robot are caused. An interference detection device is provided for checking interference between competitors.

Conventionally, as an interference detecting device for checking the interference between the robot and the structure, and between the robots, C:
The environment (shape and coordinates of the structure) around the robot and the robot are described in advance using AD (Computer Aided Design), and the geometric calculation is performed to determine whether the lines and coordinates representing the structure and the robot overlap. And a method of obtaining an interference area with the surrounding environment in the operation range of the robot are generally known.

[0006]

However, the above C
In a system using AD, when the environment becomes complicated, 1
Since the calculation of interference detection in the movement posture of two robots requires a considerably long time even with a large computer, it is difficult to use it in real time. In addition, in the case of obtaining the interference area, the work is not useful in the work of moving the work target or the work in which the surrounding environment changes due to the movement of the robot, so that the work content is considerably restricted. was there.

[0007] In view of the above, it is an object of the present invention to provide an apparatus which can greatly reduce the time required for detecting interference and which can be used in an operation of moving an object to be operated or an operation of moving a robot. I do. [Configuration of the invention]

[0008]

In order to achieve the above object, a robot interference detecting apparatus according to the present invention provides a three-dimensional solid model of a structure including a robot and a work object existing around the robot. Convert to display data 3
A logical display processor, a first data memory for three-dimensionally storing the converted display data, and a logical product of the corresponding data of two of the first data memories. A second data memory for calculating and storing three-dimensionally, a comparison processor for comparing whether or not data in the second data memory has a positive integer; and a structure including the work object Three-dimensional coordinate detecting sensor for detecting the three-dimensional coordinate, a three-dimensional coordinate detecting device for processing the detection signal from the three-dimensional coordinate detecting sensor and outputting the three-dimensional coordinate and the shape of the structure, based on the three-dimensional coordinate and the shape A robot controller that calculates the movement path of the robot by using the robot controller, and inputs the calculation result to a three-dimensional display calculation processor. By inputting to the roller, and performing a calculation of the movement path of the robot.

[0009]

According to the present invention constructed as described above, when the logical product of the corresponding data in the three-dimensional data memory representing the solid model of the robot and the surrounding structure is obtained, the location where the interference occurs is as follows: Since this logical product is a positive integer, it is possible to determine whether or not the robot and the surrounding structures and the robots interfere with each other by comparing whether or not a positive integer exists in the logical product. it can.

[0010]

Embodiments of the present invention will be described below with reference to the drawings.

In FIG. 1, an interference detection device 1 generates a solid model of a robot based on three joint angles of the robot.
Two three-dimensional display calculation processors 2-1 and 2-2 for calculating data to be displayed three-dimensionally, and a first data memory for storing the calculated display data of the solid model of the robot three-dimensionally 3-1 and 3-2, a three-dimensional display operation processor 4 for calculating data for three-dimensionally displaying a solid model of a structure including a work object existing around the robot, and the calculated structure described above. A first data memory 5 for three-dimensionally storing display data of a solid model of an object, and data corresponding to addresses of two of the first data memories 3-1 and 3-2.5. An AND operation processor 6 for performing an AND operation on the comrades, and a second data memory 7 for storing data after the operation in a three-dimensional manner
And a comparison processor 8 for comparing whether or not a positive integer exists in the data obtained by performing the logical product operation and stored in the second data memory 7.

FIG. 2 shows the structure of the first data memory 3-1 for three-dimensionally storing the data. The other first data memories 3-2 and 5 and the second data memory 7 have substantially the same configuration.

That is, the data memory 3-1 is a three-dimensional display operation processor 2-1 (the data memory 3-2 is a three-dimensional display operation processor 2-2, the data memory 5 is a three-dimensional display operation processor 4, The data memory 7 has two values of the solid model display data calculated by the logical product operation processor 6) of "1" and "0", that is, the data memory of the portion corresponding to the solid model is not "1". The location is stored as "0". In the memory configuration of the present embodiment, a combination of n * n frame memories is used.

An example of a method in which the robot 9 checks for interference with the structure 10 or the robot 9 itself using the robot interference detection apparatus of the above embodiment will be described with reference to FIG.

FIG. 3 shows two manipulators 11-1 and 11-1.
1-2, a work robot 9 having a plurality of legs 12 and a three-dimensional coordinate detection sensor 13 is combined with the interference detection device 1 having the above-described configuration to work on the work object 14 without interfering with the structure 10. Indicates a state in which The control system of the work robot 9 in the figure includes a leg driver 15, manipulator drivers 16-1 and 16-2, and robot controllers 17-1 and 17-.
It comprises a two- and three-dimensional coordinate detecting device 18 and the interference detecting device 1.

Here, the coordinates and the shape of the structure 10 are obtained by processing a signal from a three-dimensional coordinate detecting sensor 13 (in this embodiment, a laser distance measuring sensor) mounted on the robot 9 by a three-dimensional coordinate detecting device 18. It is required by The result of the structure coordinates processed by the three-dimensional coordinate detection device 18 is obtained by adding the structure solid model of the interference detection device 1 to the
3D display arithmetic processor 4 for converting to 3D display data
Is input to

The movement of the manipulators 11-1 and 11-2 is controlled by robot controllers 17-1 and 17-2.

The robot controllers 17-1 and 17-2
The coordinates of the work object processed by the three-dimensional coordinate detecting device 18 are also input to the manipulator 11.
The movement path of the tip of -1, 11-2 and the angle of each joint for moving along the movement path are calculated. Each joint angle of the robot 9 calculated by each of the robot controllers 17-1 and 17-2 is converted into a three-dimensional display arithmetic processor 2-1 for converting a solid model of the robot of the interference detection device 1 into three-dimensional display data. , 2-2.

The interference prevention device 1 detects interference between the robot 9 and the structure 10 and between the robots 9 according to the procedure shown in FIG.

That is, the three-dimensional display calculation processors 2-1, 2-2, and 4 respectively convert the input data into the three-dimensional display operation processors 2-1, 2-2, and 4 based on the input structure solid model coordinate data and robot solid model coordinate data.
Valued three-dimensional display data is created, and the display data is stored in the first data memories 3-1 and 3-3 which are stored three-dimensionally.
-2 and 5 respectively.

Based on the data stored in the first data memories 3-1, 3-2 and 5 stored three-dimensionally, a logical product operation processor 6 performs a logical product operation on the data memory 3. AND operation of -1 and data memory 3-2 AND operation of data memory 3-1 and data memory 5 An AND operation of data memory 3-2 and data memory 5 is performed. The data is stored in a second data memory 7 which stores the data in a dimension.

Based on the result of the logical product operation stored in the second data memory 7, the comparison process is performed by a comparison parallel processor 8 for comparing whether or not this data has a positive integer. Will be That is, if a positive integer exists in the comparison processing, it means that interference has been detected.

In the case of this embodiment, it is possible to detect whether or not interference has occurred by only the AND operation of the three-dimensional data memory and the comparison processing of the data values. In addition, the second data memory 7 that stores the result of the logical product operation three-dimensionally makes it possible to easily know which part and how much interference is occurring. Moreover, since a processor such as a parallel processor is used for data description and calculation, processing can be performed at a high speed (approximately several milliseconds).

Further, even if the robot 9 is moved or the surrounding environment changes, the structure 1 is detected by the three-dimensional coordinate detection sensor 13.
Obtaining the shape and coordinates of 0 and changing the second data memory 7 that stores the structure solid model three-dimensionally can prevent interference with the detection of interference.

In the above embodiment, an example is shown in which the number of first data memories for storing three-dimensionally is three. However, the present invention is not limited to this example. A plurality of data memories can be provided, and the number of data memories for the robot solid model can be increased not only to the number of manipulators but also to the torso and legs as needed.

[0026]

As described above, according to the present invention,
The interference detection time can be significantly reduced, and the present invention can be used for work in which a work object moves or work in which a work environment changes due to movement of a robot.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing one embodiment of the present invention.

FIG. 2 is a configuration diagram illustrating an example of a data memory.

FIG. 3 is a schematic diagram showing a state where the embodiment shown in FIG. 1 is combined with a working robot.

FIG. 4 is an operation flowchart in FIG. 3;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Interference prevention apparatus 2-1 3D display calculation processor 2-2 3D display calculation processor 3-1 First data memory 3-2 First data memory 4 3D display calculation processor 5 First data memory 6 Logic Product operation processor 7 Second data memory 8 Comparison processor 9 Robot 10 Structure 11-1 Manipulator 11-2 Manipulator 13 Three-dimensional coordinate detection sensor 14 Work object 16-1 Driver for manipulator 16-2 For manipulator Driver 17-1 Robot controller 17-2 Robot controller 18 Three-dimensional coordinate detector

Continuation of front page (56) References JP-A-58-22690 (JP, A) JP-A-2-116905 (JP, A) JP-A-59-183414 (JP, A) JP-A-63-196388 (JP) JP-A-59-229619 (JP, A) JP-A-60-195615 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) G05B 19/18

Claims (1)

(57) [Claims] 1. A three-dimensional display operation processor for converting a solid model of a structure including a robot and a work object existing around the robot into three-dimensional display data, and converting the converted display data into three-dimensional display data. A first data memory for temporarily storing, and a second data memory for three-dimensionally storing the data corresponding to each of the two data memories of the first data memory by performing a logical AND operation on the data, and This second
A comparison processor for comparing whether or not data in the data memory has a positive integer; a three-dimensional coordinate detection sensor for detecting a structure including the work object; and detection from the three-dimensional coordinate detection sensor. A three-dimensional coordinate detecting device that processes signals and outputs three-dimensional coordinates and a shape of the structure, calculates a movement path of the robot based on the three-dimensional coordinates and the shape, and outputs the calculation result to a three-dimensional display calculation processor A robot controller for inputting the input to the robot controller, and calculating the movement path of the robot by inputting the output of the comparison processor also to the robot controller.