System and method for monitoring entry of object into surrounding area of robot

Patent metadata

Field	Value
Publication number	US-10081107-B2
Application number	US-201314031650-A
Country	US
Kind code	B2
Filing date	Sep 19, 2013
Priority date	Jan 23, 2013
Publication date	Sep 25, 2018
Grant date	Sep 25, 2018

Abstract

A monitoring system monitors entry of an object into a surrounding area of a robot. The monitoring system includes visible light irradiation section, a sensor section and a monitoring control unit. The visible light irradiation section irradiates visible light from a level higher than that of the robot toward at least an outer edge portion of at least one of an operating area, which is set up to enclose a movable range of the robot, and a predetermined area which is set up around the operating area. The sensor section monitors entry of a new object, which is not registered in advance, into the operating area. The monitoring control unit issues a request for stopping the robot to a robot control unit that controls the robot, when entry of a new object into the operating area is detected by the sensor section.

First claim

What is claimed is:

1. A monitoring system for monitoring entry of an object into a surrounding area of a robot set up in a factory, comprising:
a visible light irradiation section that irradiates visible light from a level higher than that of the robot toward at least an outer edge portion of an operating area, which is set up to enclose a movable range of the robot, the visible light irradiation section including:
a visible light source that emits the visible light; and
a scanning system that scans the visible light from the visible light source toward the operating area;

a sensor section that monitors entry of a new object, which is not registered in advance, into the operating area; and
a monitoring control unit that issues a request for stopping the robot to a robot control unit that controls the robot, when entry of the new object into the operating area is detected by the sensor section, wherein
the sensor section monitors entry of the new object into a monitored area which is configured by the operating area and an alert area set up around the operating area, and
the monitoring control unit controls the visible light irradiation section such that
(i) irradiation of the visible light from the visible light irradiation section is stopped in a period in which entry of the new object into the monitored area is not detected by the sensor section, and
(ii) the visible light is irradiated from the visible light irradiation section toward at least the outer edge portion of the operating area in response to entry of the new object into the alert area being detected by the sensor section, wherein no visible light is irradiated until entry of the new object into the alert area is detected by the sensor section.

2. The monitoring system according to claim 1 , wherein
the sensor section includes an invisible light irradiation section that sequentially irradiates invisible light toward irradiated positions of the monitored area, and a light receiving section that receives the invisible light reflected after irradiation, and
the sensor section detects whether or not the new object has entered into the irradiated positions of the invisible light on the basis of the invisible light received by the light receiving section.

3. The monitoring system according to claim 2 , wherein
the visible light irradiation section is capable of irradiating the visible light toward the same positions as the irradiated positions of the monitored area irradiated by the invisible light irradiation section, and
the monitoring control unit controls the visible light irradiation section such that
if entry of the new object into the alert area is detected by the sensor section, the visible light is irradiated when the irradiated position of the invisible light lies in the operating area.

4. A monitoring system for monitoring entry of an object into a surrounding area of a robot set up in a factory, comprising:
a visible light irradiation section that irradiates visible light from a level higher than that of the robot toward at least an outer edge portion of at least one of an operating area, which is set up to enclose a movable range of the robot, and a final confirmation area which has a predetermined width and is set up around the operating area, the visible light irradiation section including:
a visible light source that emits the visible light; and
a scanning system that scans the visible light from the visible light source toward the final confirmation area, in such a manner that when the object enters the final confirmation area around the operating area, a portion of a body of the object which has entered the final confirmation area around the operating area is irradiated with the visible light so that the portion of the body having a natural color before entry is projected with a color by the visible light;

a sensor section that monitors entry of a new object, which is not registered in advance, into the operating area; and
a monitoring control unit that issues a request for stopping the robot to a robot control unit that controls the robot, when entry of the new object into the operating area is detected by the sensor section, wherein
the sensor section monitors entry of the new object into a monitored area which is configured by the operating area, the final confirmation area set up around the operating area, and an alert area set up around the final confirmation area, and
the monitoring control unit controls the visible light irradiation section such that
(i) irradiation of the visible light from the visible light irradiation section is stopped in a period in which entry of the new object into the monitored area is not detected by the sensor section, and
(ii) the visible light is irradiated from the visible light irradiation section toward at least the outer edge portion of the final confirmation area in response to entry of the new object into the alert area being detected by the sensor section, wherein no visible light is irradiated until entry of the new object into the alert area is detected by the sensor section.

5. The monitoring system according to claim 4 , wherein
the sensor section includes an invisible light irradiation section that sequentially irradiates invisible light toward irradiated positions of the final confirmation area and the alert area, and a light receiving section that receives the invisible light reflected after irradiation, and
the sensor section detects whether or not the new object has entered into the irradiated positions of the invisible light on the basis of the invisible light received by the light receiving section, and detects, after entry of the new object into the final confirmation area is detected, entry of the new object into the operating area when no entry of the new object into the final confirmation area is detected and no entry of the new object into the alert area is detected.

6. The monitoring system according to claim 5 , wherein
the visible light irradiation section is capable of irradiating the visible light toward the same positions as the irradiated positions of the monitored area irradiated by the invisible light irradiation section, and
the monitoring control unit controls the visible light irradiation section such that
if entry of the new object into the alert area is detected by the sensor section, the visible light is irradiated when the irradiated position of the invisible light lies in the final confirmation area.

7. A monitoring method for monitoring entry of an object into a surrounding area of a robot set up in a factory, the monitoring method comprising:
a step of irradiating, at a visible light irradiation section, visible light from a level higher than that of the robot toward at least an outer edge portion of an operating area, which is set up to enclose a movable range of the robot, the step of irradiating including:
a step of emitting, from a visible light source, the visible light; and
a step of scanning, by a scanning system, the visible light from the visible light source toward the operating area;

a step of monitoring, at a sensor section, entry of a new object, which is not registered in advance, into the operating area; and
a step of issuing, at a monitoring control unit, a request for stopping the robot to a robot control unit that controls the robot, when entry of the new object into the operating area is detected by the sensor section, wherein
the step of monitoring is a step of monitoring, at the sensor section, entry of the new object into a monitored area which is configured by the operating area and an alert area set up around the operating area, and
the step of irradiating includes
a step of stopping irradiating visible light from the visible light irradiation section in a per

Assignees

• Denso Wave Inc

Inventors

• Sakabe Kouji

Classifications

• B25J9/1697 Primary

  Vision controlled systems · CPC title

• G05B2219/40196

  Projecting light on floor to delimit danger zone around robot · CPC title

• G05B2219/40203

  Detect position of operator, create non material barrier to protect operator · CPC title

• B25J9/1676 Primary

  Avoiding collision or forbidden zones · CPC title