Functional Safety Concept for a Handling Robot Built on Optical Systems

摘要

This work introduce a safety concept for a handling robot, built on optical system for the three-dimensional monitoring. The core system is the Pilz SafetyEye, which is intended to monitor the working area of an industrial robot in the University of Applied Sciences Technikum Wien's own digital factory. This system was extended with low-level sensor "Kinect 360" for the human detection. By entering safety area of human, the industrial robot is decelerated\ deactivated via the safety control used. In this case, a signal is sent to the robot controller, which forces the manipulator to slow down or to stop its operation immediately. Further outputs of the system are an acoustic signal, which is intended to warn the threatened person. Kinect can generate and process not only colour images, but also depth images. The advantage of this system is the integrated environment, which provides a libraries and functions for recognizing of human as a virtual image. However, this concept has been worked according to currently valid standards, which takes all safety-related aspects of the industrial robot. This system was practically implemented and on-line tested. Different data, like reaction rate and different orientation of human has been collected and presented. Further work is the integration safety and security within entire handling system.