Monitoring Device and Method for Operating a Monitoring Device

Abstract

A monitoring device is provided for a human or mechanical manipulator on which an operating element, such as a tool or a handling device, can be fixed and by which the operating element can be operated. The monitoring device has at least one detection device which includes at least one sensor, by which at least one actual value of the manipulator can be detected, and which detection device includes at least one control unit by which the actual value of the manipulator detected by the sensor can be matched to at least one desired value of the manipulator stored in the control unit. The detection device has at least one transponder element arranged on the operating element and/or on a working station in order to detect the actual value using the at least one sensor, which transponder element can be detected via the at least one sensor.

Claims

1. A monitoring apparatus for a human or mechanical manipulator to which an operator control element is attachable and by which the operator control element is controllable, the monitoring apparatus comprising: at least one detection device that comprises at least one sensor, by which at least one ACTUAL value of the manipulator is detectable; at least one control unit, by which the ACTUAL value of the manipulator detected by the sensor is associable with at least one SETPOINT value of the manipulator saved in the control unit, wherein the detection device comprises, for the purpose of detecting the ACTUAL value by way of the at least one sensor, at least one transponder element, arranged on the operator control element and/or on a workstation, that is detectable by the at least one sensor.

2. The monitoring apparatus according to claim 1, further comprising: at least one signal device by which a concordance and/or discordance of the ACTUAL value of the manipulator with or from the SETPOINT value of the manipulator is signalable on the manipulator.

3. The monitoring apparatus according to claim 2, wherein the signal device is attached to the manipulator indirectly or directly and is visually, audibly and/or physically perceptible.

4. The monitoring apparatus according to claim 2, wherein the signal device is a light-emitting element, a loudspeaker, and/or a vibrator perceptible on the manipulator.

5. The monitoring apparatus according to claim 1, wherein the detection device is arranged on the manipulator directly or indirectly, and/or the detection device comprises at least one energy unit for supplying power to at least the control unit and the sensor.

6. The monitoring apparatus according to claim 5, wherein the energy unit supplies power to an antenna element of the sensor.

7. The monitoring apparatus according to claim 1, wherein the ACTUAL value of the manipulator and the SETPOINT value of the manipulator comprise at least one contact value, a position value, an orientation value, a movement value and/or a direction of movement value of the manipulator, and/or the attachment and/or use of a defined operator control element of the at least one operator control element, which defined operator control element is saved in the control unit.

8. The monitoring apparatus according to claim 1, further comprising: at least one inspection unit, to which at least the ACTUAL value of the manipulator, the concordance and/or the discordance is transferrable by the control unit by way of the sensor in the form of an antenna element, and possibly by a display of the inspection unit, by which the ACTUAL value of the manipulator, the concordance and/or the discordance is displayable.

9. The monitoring apparatus according to claim 1, wherein the human or mechanical manipulator is attachable to a tool or handling device.

10. A method for operating a monitoring apparatus for a human or mechanical manipulator to which an operator control element is attachable and by which the operator control element is controllable, which monitoring apparatus has at least one detection device that comprises at least one sensor and at least one control unit, and that comprises at least one transponder element arranged on the operator control element and/or on a workstation, the method comprising the steps of: a. detecting at least one ACTUAL value of the manipulator by detecting the transponder element arranged on the operator control element or the workstation by way of the at least one sensor; b. associating the ACTUAL value of the manipulator with a SETPOINT value of the manipulator by way of the control unit; and c. determining a concordance or a discordance of the ACTUAL value of the manipulator with or from the SETPOINT value of the manipulator.

11. The method according to claim 10, wherein the step of associating the ACTUAL value of the manipulator with a SETPOINT value of the manipulator is carried out by associating the ACTUAL value with a specific operator control element and/or with a specific workstation.

12. The method according to claim 10, further comprising the step of: signaling at least the discordance or the concordance of the ACTUAL value of the manipulator from or with the SETPOINT value of the manipulator by way of at least one signal device arranged on the manipulator.

13. The method according to claim 12, further comprising the step of: saving and/or storing the SETPOINT values, the concordance and/or the discordance, in the control unit.

14. The method according to claim 13, further comprising the step of: transmitting at least the ACTUAL values, the concordance and/or the discordance, to an inspection unit and displaying the ACTUAL values, the concordance and/or the discordance, by way of a display of the inspection unit.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0041] FIG. 1 is a perspective plan view of an exemplary embodiment of the monitoring apparatus.

[0042] FIG. 2 is a schematic representation of the interaction of the individual parts of the monitoring apparatus shown in FIG. 1.

[0043] FIG. 3 is a schematic flowchart for a first embodiment of the monitoring apparatus.

DETAILED DESCRIPTION OF THE DRAWINGS

[0044] FIGS. 1 and 2 show a monitoring apparatus, the whole of which is provided with the reference sign 2, for a human or mechanical manipulator 4. An operator control element, such as a tool or handling device (not depicted in the figures), is attachable to the manipulator 4. In the exemplary embodiment shown in the figures, the monitoring apparatus 2 comprises a detection device 6 comprising at least one sensor 8. An ACTUAL value of the manipulator 4 is detectable by the sensor 8. Apart from this, the detection device 6 comprises a control unit 10 by means of which the ACTUAL value of the manipulator 4 detected by the sensor 8 is associable with at least one SETPOINT value of the manipulator 4 saved in the control unit 10. From FIG. 2, it is evident that the detection device 6 comprises multiple transponder elements 12 that are detectable by way of the sensor 8. In the exemplary embodiment of the monitoring apparatus 2 depicted in the figures, the sensor 8 includes an antenna element 14.

[0045] In the exemplary embodiment shown in the figures, the detection device 6 is attached directly to the manipulator 4. Apart from this, the detection device 6 includes an energy unit 16 by means of which at least the control unit 10, the sensor 8, in particular the antenna element 14, are suppliable with energy. Moreover, the monitoring apparatus 2 includes a signal device 18 by means of which a concordance and/or discordance of the ACTUAL value of the manipulator 4 with/from the SETPOINT value of the manipulator 4 is signalable on the manipulator 4. In this case, the signal means 18 can be visually, audibly and/or physically perceptible.

[0046] FIG. 3 shows a schematic flowchart, on the basis of which the interaction of the individual components of the monitoring apparatus 2 shown in FIGS. 1 and 2 is explained below.

[0047] In a first step 100, at least one ACTUAL value of the manipulator 4 is detected by the sensor 8.

[0048] In a subsequent step 101, the ACTUAL value of the manipulator 4 is associated with a SETPOINT value of the manipulator 4 by the control unit 10. The SETPOINT values of the manipulator 4 are storable in the control unit 10 and can be used for comparison against the ACTUAL values.

[0049] In a subsequent step 105, a concordance or discordance of the ACTUAL value of the manipulator 4 with or from the SETPOINT values of the manipulator 4 is ascertained.

[0050] The signal device 18 signals the discordance or concordance of the ACTUAL value of the manipulator 4 with the SETPOINT value of the manipulator 4 in a subsequent step 103. As a result, it is detectable directly on the manipulator 4 whether the manipulator 4 is at the correct workstation, whether the manipulator 4 performs a correct work activity and/or whether the manipulator 4 uses the correct tool.

[0051] Apart from this, it is contemplated that, in parallel with work steps 102 and 103, saving and/or storage of the SETPOINT values, the concordance and/or the discordance in the control unit is savable in a work step 104.

[0052] In parallel with step 103, in which the signal device 18 signals to the manipulator 4 whether there is a concordance or discordance of the ACTUAL values of the manipulator 4 with the SETPOINT values of the manipulator 4, transmission of at least the ACTUAL values, the concordance and/or the discordance, to an inspection unit is effected and, there, display of the ACTUAL values, the concordance and/or the discordance, by a display of the inspection unit is effected if need be.

LIST OF REFERENCE SIGNS

[0053] 2 Monitoring apparatus [0054] 4 Manipulator [0055] 6 Detection device [0056] 8 Sensor means [0057] 10 Control unit [0058] 12 Transponder element [0059] 14 Antenna element [0060] 16 Energy unit [0061] 18 Signal means [0062] 100-105 Method steps

[0063] The foregoing disclosure has been set forth merely to illustrate the invention and is not intended to be limiting. Since modifications of the disclosed embodiments incorporating the spirit and substance of the invention may occur to persons skilled in the art, the invention should be construed to include everything within the scope of the appended claims and equivalents thereof.