PROTECTIVE-FIELD ADJUSTMENT OF A MANIPULATOR SYSTEM

Abstract

A method for operating a manipulator system, that includes a driverless transport system having a driverless transport vehicle. A protected field of the manipulator system is monitored by a monitoring device. Environment information of the manipulator system, including for example an orientation, position, movement, and/or state of an object or an obstacle in the environment, is obtained and used to adjust the protected field.

Claims

1. A method for operating a manipulator system including a driverless transport system (DTS) having a driverless transport vehicle, wherein a protective field of the manipulator system is monitored by a monitoring device, the method comprising: providing environment information regarding the environment of the manipulator system; adjusting the protective field based on the environment information; and monitoring the adjusted protective field by means of the monitoring device.

2. The method according to claim 1, wherein the step of adjusting the protective field (7) is further carried out based on a speed of the manipulator system.

3. The method according to claim 1, wherein at least one of the steps of providing environment information or adjusting the protective field is carried out during a movement of the manipulator system.

4. The method according to claim 1 3, wherein the environment information comprises an environment map and a current position of the manipulator system.

5. The method according to claim 4, wherein the environment map comprises structure information of at least one known object in the environment, and wherein the adjustment of a protective field is carried out so that the protective field spares the at least one known object.

6. The method according to claim 5, wherein the environment map comprises structure information of at least an additional known object, and wherein the adjustment of a protective field is further carried out, so that the protective field additionally spares areas shadowed by the known objects.

7. The method according to claim 1, wherein providing environment information comprises the detection of an adjustment signal.

8. The method according to claim 7, wherein the detection of the adjustment signal comprises a wireless reception of an adjustment signal, wherein the adjustment signal is sent wirelessly from a stationary transmitter.

9. The method according claim 8, wherein the adjustment signal is wirelessly sent based on the provided position data of the manipulator system or is cyclically sent with short range wirelessly.

10. The method according to claim 7, wherein the detection of the adjustment signal comprises the scanning of the adjustment signal, wherein the adjustment signal is in the form of an external marking.

11. The method according to claim 7, wherein the adjustment of the protective field comprises switching to a predefined protective field.

12. A manipulator system, comprising: a driverless transport system (DTS) having a driverless transport vehicle; a monitoring device which is configured to monitor a protective field of the manipulator system; and a control device, which is configured to: obtain environment information regarding the environment of the manipulator system; adjust the protective field based on the environment information; and monitor the adjusted protective field by means of the monitoring device.

13. The manipulator system according to claim 12, wherein the monitoring device comprises laser scanners for detecting objects in the protective field.

14. The manipulator system according to claim 12, further comprising means for determining the current position of the manipulator system.

15. The manipulator system according to claim 12, further comprising means for detecting an adjustment signal.

16. The manipulator system according to claim 15, further having a stationary transmitter for wirelessly sending the adjustment signal to the means for detecting the adjustment signal, and wherein the means for detecting the adjustment signal comprises a receiver.

17. The manipulator system according to claim 15, wherein the means for detecting the adjustment signal comprises a scanner, which is set up to scan an external marking, and wherein the adjustment signal comprises the external marking.

18. The method according to claim 1, wherein the manipulator system comprises a manipulator, and wherein the protective field of the manipulator and a DTS-protective field of the driverless transport system are monitored and adjusted.

19. The manipulator system according to claim 12, wherein the manipulator system comprises a manipulator, and wherein the protective field of the manipulator and a DTS-protective field of the driverless transport system are monitored and adjusted.

Description

4. BRIEF DESCRIPTION OF DRAWINGS

[0038] Hereinafter, the present invention will be described in detail with reference to the accompanying figures. In the figures, like parts are designated by like reference numerals. It shows:

[0039] FIG. 1 is a manipulator system with an adjusted protective field according to an embodiment.

[0040] FIG. 2 is a manipulator system with an adjusted protective field according to another embodiment.

[0041] FIG. 3 is a manipulator system with an adjusted protective field according to another embodiment.

[0042] FIG. 4 is a manipulator system with an adjusted protective field according to another embodiment.

[0043] FIG. 5 is a manipulator system with an adjusted protective field according to another embodiment. and

[0044] FIG. 6 to FIG. 8 schematically shows a method for operating a manipulator system according to another embodiment.

5. DESCRIPTION OF PREFERRED EXEMPLARY EMBODIMENTS

[0045] FIG. 1 shows a manipulator system, which comprises a driverless transport system 1 and a manipulator 2 mounted thereon. At the driverless transport system 1, two laser scanners 3 are provided, which monitor a protective field 7. Objects, which are present in the protective field 7, cause protective field infringements. These infringements can be output as binary signals, causing an emergency stop or other reactions of the manipulator system.

[0046] Further, in FIG. 1 an obstacle 4 is shown, which can be, for example, a wall. The obstacle 4 is, in particular, a known obstacle in the environment of the manipulator system. This obstacle is thus known and can be marked or identified in an environment map. According to the invention, a region 5 covered by the obstacle is cut based on this environment map. Thereby, this results in the illustrated protective field boundary 6, which runs along the contour of the obstacle 4.

[0047] FIG. 2 also shows a driverless transport system 1, in which two laser scanners 3 are provided. The obstacle 4 is here in the form of a passage or an open door. The obstacle 4 is known again, and can be identified in an environment map, which can be provided as environmental information.

[0048] Based on the environment information, at least the area 5 is cut out of the protective field 7, in which the obstacle 4 is found. Furthermore, since certain areas behind obstacles, such as a door, are not visible through the laser scanner, area 8 shaded by the obstacle 4 is also cut out of the protective field, as this area 8 is not visible through the laser scanner 3.

[0049] One way to easily determine the areas not visible through the laser scanner can be checking whether there is a connection line from each point within the protective field to each sensor or laser scanner, wherein the connection line must lie completely in the protective field. In particular, it can be checked whether such a connection line exists from each point along a traverse, which forms the outer boundary of a protective field. FIG. 2 schematically shows a relevant connection lines 9. As a result of the check, it provides an adjusted protective field with an environment-specific protective field boundary 6.

[0050] In FIG. 3, an obstacle 4 is presented in the form of a wall, wherein the manipulator system 1 initially complies with a minimum-safety area. When the manipulator system 1 moves toward a known object, the protective field 7 can be getting smaller as progressively approaching [the object], as described above, and thereby always fully secure the maximum distance to the obstacle. For better flexibility, a minimum size 10 of the protective field can be defined, so that the protective field is reduced only to a certain minimum size, and the manipulator system does not drive into the obstacle. In the situation illustrated in FIG. 3, the protective field 7 is not reduced continuously during an approach, but only up to the minimum size 10. By another approach to the obstacle 4, as shown in FIG. 3, the obstacle 4 comes into the protective field 7 with the minimum size 10, so that this is advantageously infringed and a further approach to the obstacle can be prevented.

[0051] In FIG. 4, a work table 11 is shown, on which an operation step is to be carried out. This work table 11 is listed as an obstacle in the environment map at least for the driverless transport system 1. The driverless transport system 1 should not drive into this work table 11. During an approach of the driverless transport system 1 to the work table 11, the relevant protective field 7 of the driverless transport system 1 is cyclically adjusted or reduced, so that this protective field 7 is not infringed by the work table 11.

[0052] However, the manipulator 2, provided on the driverless transport system 1, should not perceive the work table 11 as an obstacle in order to carry out an operation step on this work table 11. To this end, in an environment map, certain areas are identified as an irrelevant obstacle for the manipulator 2, among others, the worktable 11. This can be done by a binary marking or also by the specification for the height of obstacles. Obstacles with an appropriate marking can infringe the minimum extent of the protective field and reduce this further. Thus, the manipulator 2 can carry out work on the work table 11, but this is no longer protected by the safety sensors or laser scanners. The skilled person in the art understands that the manipulator 2 can additionally be protected by other protection mechanisms.

[0053] Furthermore, for example, hanging obstacles can also be considered as obstacles to the manipulator 2, while the driverless transport system 1 can drive through under these obstacles. Such obstacles are then marked as irrelevant to the transport system 1.

[0054] FIG. 5 shows another embodiment, in which a stationary operation is protected. Here protecting a stationary workstation can also be carried out with the laser scanners during a work step of the manipulator. In this case, an adjusted protective field to the known environment contour can be calculated, or an optimal protective field can be determined without consideration of the environment, from which the subsequently known contours of the work station 17 can be cut. In the situation illustrated in FIG. 5, the work table 11 or the workstation 17 is spared from the ideal protective field because there are no unknown obstacles, for example, no people, found or stopped. Thus, this results in a protective field 13, which extends along the contour of the work table 11.

[0055] The monitoring of a manipulator system is thus no longer limited by a limited number of possible configurations of a protective field. On the contrary, a dynamic adjustment of a protective field can be carried out continuously during the operation of the manipulator system. The protective field can be continuously and dynamically adjusted online using environment information. Approaches to the known objects, passages of narrow corridors, and safeguard of accessibility to workstations are possible by the safety sensors. Also, manipulators mounted on driverless transport systems, in consideration of the known obstacles and their significance for the working space of the manipulator, are flexibly protected.

[0056] In the embodiments of FIGS. 6-8, a manipulator system is shown, comprising a driverless transport system 1 and a manipulator 2 mounted thereon. The driverless transport system 1 moves toward a narrow corridor 16, and this should happen. In the situation shown in FIG. 6, the protective field 7 of the manipulator system is too large to pass through the corridor 16, and it would be infringed in a drive-through.

[0057] Further, in the embodiment of the FIGS. 6-8, a transmitter 14 is provided, which is stationarily fixed in the environment. This sends a signal, when the manipulator system is near the transmitter 14. At the manipulator system, a relevant receiver 15 is provided, which can detect a signal.

[0058] In the situation of this embodiment shown in FIG. 7, the manipulator system has approached the transmitter 14 and the corridor 16. As a result of the approach, the signal or adjustment signal, which is sent from the transmitter 14 to the manipulator system, is received by the receiver 15. In response to this adjustment signal, the protective field 7 is reduced, as shown in FIG. 8. The adjustment signal can thereby cause a protective field, adjusted to the corridor, here a narrower protective field, to be used.

[0059] As can be seen in FIG. 8, now the smaller protective field 7 of the manipulator system is monitored, which is adjusted to the corridor, so that the manipulator system can pass the corridor without causing a protective field infringement.

[0060] The person skilled in the art understands that the elements of the embodiment of FIGS. 6-8 can be combined with the elements of the embodiments of FIGS. 1-5 in order to enable an optimum protective field adjustment according to the present invention in accordance with each application.