阅读说明：本技术 机器人和用于运行机器人的方法 (Robot and method for running robot ) 是由 斯文·帕鲁泽尔 西蒙·哈达丁 托拜厄斯·恩德 约翰内斯·施密德 比约恩·皮奇 洛伦佐·莫泽 于 2018-04-18 设计创作，主要内容包括：本发明涉及一种机器人,其具有：用于确定关于机器人与环境的机械式接触事件的信息KE的系统(101)；用于将所确定的信息KE转换成反应该信息KE的反馈信息FI的转换单元(102)；以及在机器人上、尤其是在机器人的机器人操纵器上布置的发光器件(103),用于输出取决于反馈信息FI的光信号。(The present invention relates to a kind of robot, the system (101) for determining the information KE of the mechanical type contact event about machine human and environment is included；For identified information KE to be converted into react the converting unit (102) of the feedback information FI of information KE；And the luminescent device (103) arranged in robot, especially in the robotic manipulator of robot, for exporting the optical signal for depending on feedback information FI.)

1. a kind of robot, includes

For determining the system (101) of the information KE of the mechanical type contact event about the machine human and environment；

Converting unit (102), for identified information KE to be converted to the feedback information FI for reflecting the information KE；With

Luminescent device (103), is disposed in the robot, particularly is arranged in the Robotic Manipulator of the robot On device, for exporting the optical signal L (FI) for depending on the feedback information FI.

2. robot according to claim 1,

Wherein, the system (101) has at least one sensor component, and the sensor component connects for determination about described The measurement data of touching event and for determining/estimate the information KE based on the measurement data.

3. robot according to any one of claim 1 to 2,

Wherein, the luminescent device is carried out and setting is used for, and light intensity and/or photochromic is controlled depending on the feedback information FI And/or mode and/or the luminescent device of the optical signal of modulation and/or the photochromic modulation and/or output of light intensity The quantity of light source.

4. robot according to any one of claim 1 to 3,

Wherein, the converting unit is carried out and is set as, so that the institute in identified information KE to the feedback information FI It states conversion and is provided as look-up table.

5. robot according to any one of claim 1 to 4,

Wherein, the converting unit is carried out and is set as, so that identified information KE is to the described of the feedback information FI Conversion is provided as function/algorithm.

6. robot according to any one of claim 1 to 4,

Wherein, the converting unit is carried out and is set as, so that the mode of identified information KE is converted into described in reflection The feedback information FI of mode.

7. robot according to any one of claim 1 to 4,

Wherein, the converting unit is carried out and is set as, so that identified information KE is classified as classification, wherein to each Classification attaches personalized feedback information FI.

8. robot according to claim 7,

Wherein, the time change for being classified based on corresponding informance KE and/or amplitude and/or frequency of the information KE carries out.

9. a kind of method for running robot, has follow steps:

Determine the information KE of (201) about the mechanical type contact event of the machine human and environment；

By identified information KE conversion (202) at the feedback information FI for reflecting the information KE；With

The luminescent device in robotic manipulator by being arranged in the robot, particularly being arranged in the robot Export the optical signal L (FI) that (203) depend on the feedback information FI.

10. according to the method described in claim 9,

Wherein, the luminescent device controlled according to the feedback information FI light intensity and/or photochromic and/or light intensity modulation and/ Or the quantity of the light source of the mode and/or luminescent device of the optical signal of photochromic modulation and/or output.

Technical field

The present invention relates to a kind of robot and a kind of methods for running robot.

Summary of the invention

The object of the present invention is to provide a kind of robot and a kind of method for running robot, so as to The feedback of the contact event about robot, particularly robotic manipulator with environment is realized for user.Particularly, feedback should It can be realized " teaching " programming for improving robot.

The present invention is obtained by the feature of independent claims.It is advantageously improved scheme and design scheme is dependent claims Theme.Other features, application possibility and advantage of the invention is shown in the accompanying drawings from following description and to the present invention Embodiment elaboration in obtain.

The first aspect of the present invention is related to a kind of robot, with following devices: for determining about robot and ring The system of the information KE of the mechanical type contact event in border；For identified information KE to be converted into reflect that the information KE's is anti- The converting unit of feedforward information FI；And it is arranged in robot, particularly is arranged in hair in the robotic manipulator of robot Optical device, the luminescent device are used to export the optical signal L (FI) depending on feedback information FI.

Term " the contact event of robot " is currently related to mechanical type contact and is currently broadly interpreted.The term example It such as include the contact event with the object of environment or with the mechanical type contact or robot of the personnel of operation robot with its own. The contact of robot can be desired or undesirable in principle.It is desired contact for example by robot come according to program Occur when process object or in so-called " teaching " programming, in " teaching " programming, personnel's especially guided robot is grasped Vertical device, and the robot thus such as posture of learning robot executor and position.Undesirable mechanical type contact is not planned Ground randomly occurs.

Contact event can physically be described by multiple parameters.Advantageously, contact thing is described by following parameter Part: the current location and/or posture that robot is in contact on it；Position in robot, on the position effect contact Power and/or contact torque；The numerical value of the power and/or torque that work and direction；The speed of robot occurred in contact event Degree and/or acceleration；Material deformation of the appearance of robot etc..Information KE is beneficially based on this seed ginseng that contact is described Several measurement/estimation and/or based on the parameter therefrom derived.Therefore, information KE advantageously multidimensional.Information KE is advantageously Further include to based on robot current state and corresponding prediction model determined by the possible following contact event prediction.With Prediction computer is advantageously comprised thus in the system for determining information KE, and corresponding prediction mould is run on the prediction computer Type.

Information KE is converted into feedback information FI by converting unit, and feedback information is used as optical signal L (FI) by luminescent device again Output.The conversion of information KE to feedback information FI advantageous by preset transition matrix or by preset transfer function into Row.

Advantageously, information KE to feedback information FI is depended on the work at present mould of robot by the conversion that converting unit is implemented Formula.If robot is for instance in " teaching " programming mode, such as can implement accordingly attach first by converting unit Transformation rule, and the second transformation rule accordingly attached is implemented by converting unit in " implementation procedure " mode.

It is the user of robot especially when executing " teaching " programming to robot by output optical signal L (FI) Intuitive, the i.e. readily comprehensible light for providing the contact in corresponding context for just having carried out is fed back.

For determining the system, converting unit and luminescent device of information KE advantageous by control process control.In addition, control Processing procedure sequence is limited by being controlled accordingly with adjustment parameter.The control by correspondingly pre-set control programs or currently attached and Adjustment parameter defines the current feedback behavior of robot.The control attached by change control program and/or change and tune Parameter is saved, the feedback behavior of robot can be correspondingly changed.

Advantageously, which has at least one sensor component, is used to determine the measurement data about contact event And for determining/estimating the information KE based on measurement data.Advantageously, information KE includes one in following (measurement) parameter It is or multiple: power；Torque, pressure；Voltage；Electric current；Position/face attached etc..Information KE may include description machine in principle All information and explanation of contact of the device people with external object.Advantageously, information KE further includes during external contact action Robot current state (position, posture, speed, acceleration of the various pieces of robot etc., robot operating mode, Present procedure step in robot control program etc.).Feedback information FI additionally advantageously compiles the current state of robot Code.Thus, for example whether user can identify robot for instance in " teaching " programming mode according to the optical signal L (FI) of output In, such as by the photochromic of output the mode is encoded.

One favourable improvement scheme of robot is characterized in that luminescent device is carried out and setting is used for, and depends on feedback Information FI controls the optical signal L (FI) of light intensity and/or photochromic and/or light intensity modulation and/or photochromic modulation and/or output (light) mode and/or luminescent device light source quantity.Luminescent device has corresponding control electronic device thus.Photophore Part includes one or more light sources.Light source for example can be Light-emitting diode LED, halogen lamp, incandescent lamp etc..Light source especially can be with It is designed to emit the light of different chromatographies or different photochromic.Advantageously, luminescent device includes at least one light source and light guide The combination of body, light source will be optically coupled into optical conductor in input side, and outlet side by light from optical conductor decoupling to environment in. Feedback information FI encodes optical signal L (FI) to be output at this.

One favourable improvement scheme of robot is characterized in that converting unit is carried out and is set as, so that identified The conversion of the feedback information FI of information KE to reflection information KE is provided as look-up table or as transition matrix.Therefore, at this In improvement project, information KE is converted into feedback information FI by look-up table or transition matrix.

One favourable improvement scheme of robot is characterized in that converting unit is carried out and is set as, so that identified The conversion of the feedback information FI of information KE to reflection information KE is provided as function/algorithm.Advantageously, look-up table or conversion square Battle array depends on the current state of robot and/or the current operation mode of robot.

One favourable improvement scheme of robot is characterized in that converting unit is carried out and is set as, so that by determining Information KE in mode be converted into feedback information FI reflection the mode mode.Term " mode " used in herein More particularly, to identifiable mode/characteristic in the parameter of description contact event, such as it is related in description information KE parameter The individualized time course of one or more parameters.Advantageously, term " mode " additionally considers the current shape of robot herein State and/or current operation mode.This kind of " parameter mode " can for example indicate one or more ginsengs when describing contact event Several courses at any time.Particularly, if the mode is personalized by multiple parameters, information KE to corresponding feedback letter The appropriate conversion of breath FI (considering or do not consider the current state of robot and/or the current operation mode of robot) can be realized Visual feedback about complicated contact process.

One favourable improvement scheme of robot is characterized in that converting unit is carried out and is set as, so that by determining Information KE be classified as classification, wherein attach personalized feedback information FI to each classification.

One favourable improvement scheme of robot is characterized in that the time for being classified based on corresponding information KE of information KE is gone through Journey and/or amplitude and/or frequency carry out.Advantageously, the current state and/or operating mode of robot are also considered in classification.

One favourable improvement scheme of robot is characterized in that one of preset classification represents touching for machine human and environment It hits.Depending on the operating mode of robot, during this collision is likely to occur in such as " teaching " process, or in control machine During the autonomous implementation of the control program of device people.Advantageously, the category for representing robot and Environment Collision is attached with red Optical signal output.

Advantageously, one of pre-set categories represent the robot fault determined by robot.Advantageously, robot fault is represented The category be attached with orange or yellow optical signal output.

Advantageously, one of pre-set categories represent normal condition, that is, do not have faulty state.Advantageously, to illustrating robot The category of normal condition is attached to be exported with the optical signal of green.

Optical output device advantageously has one or more light emitting diodes.Optical output device can have luminous Band, optical conductor, photocon etc..Advantageously, optical output device has annular luminous face, and plane earth projects uniform light. Advantageously, optical output device has circular luminous face, and plane earth projects uniform light.

One favourable improvement scheme of robot is characterized in that, robot have with data network (such as internet, LAN, Local area network) data-interface, and robot be set and implement for from data network load for controlling machine The control program of people.Advantageously, robot has data interface and corresponding program storage thus.Advantageously, it is used for machine The control program of device people's control unit can be provided in corresponding data network by center fed quotient.Advantageously, data network is The data network of wired connection, radio data network or combinations thereof.

Advantageously, robot is set and implementation is used for, the control and adjusting from data network load about control program Parameter.Control and adjustment parameter define the concrete application of corresponding control program.Control and adjustment parameter are especially and wait solve Task certainly is adapted.Advantageously, robot has corresponding data storage thus.

Advantageously, robot is set and implements to be used for, by the manual input interface of robot (such as in area, robot The man-machine interface provided in domain) and/or control and adjustment parameter about control program are loaded by " teaching process ", at this During teaching, robot is moved by manual guidance and by user's applied force.In addition, not only manual input interface, and And the amendment to the control and adjustment parameter that load from data network can be realized using " the teaching process " that robot executes Or adaptation.

Advantageously, robot is set and implementation is used for, so that control program and/or affiliated control from data network The load of system and adjustment parameter with the distant station of data network connection by equally controlling.This kind of distant station for example can be plate PC, smart phone, laptop, PC (PC) etc..Distant station is advantageously run by center fed quotient.

Advantageously, robot is set and implementation is used for, according to the requirement of the participant in data network and/or independently Ground, such as when there are preset condition, other participants into data network are sent in robot local existing control Program and/or affiliated control and adjustment parameter.This " participant " can be in principle it is each for the data exchange and be arranged Computer unit and/or memory cell.

Advantageously, robot is set and implementation is used for, and the control program in robot is with affiliated control and adjusting Parameter with the distant station of data network connection by equally starting local load.This kind of distant station for example can be tablet PC, intelligence Mobile phone, laptop, personal computer etc..Distant station is advantageously run by center fed quotient.

Advantageously, the manual input interface in distant station and/or robot has man-machine interface, is carried out and is arranged use In input control program and/or affiliated control and adjustment parameter；And/or it is carried out and is arranged for from multiple available controls Control program and/or affiliated control and adjustment parameter are selected in program and/or affiliated control and adjustment parameter.

Man-machine interface is advantageously able to input dialogue frame, keyboard, the meter for inputting, being guided by " drag and drop " on touch screen Calculation machine mouse, haptic input interface, virtual reality glasses, acoustics input interface, body tracking, based on electromyographic data, be based on EEG data realizes input via the neural interface or their combination that arrive operator's brain.

Advantageously, man-machine interface be carried out and be arranged for export audiovisual, tactile, smell, sense of touch, it is electrical Feedback or their combination.

Another aspect of the present invention relates to a kind of methods for running robot, have follow steps: determining about machine The information KE of the mechanical type contact event of device human and environment；Identified information KE is converted to the feedback for reflecting the information KE Information FI；And the luminescent device by being arranged in robot, being especially arranged in the robotic manipulator of robot is defeated The optical signal L (FI) of feedback information FI is depended on out.

The one favourable improvement scheme of this method is characterized in that at least one sensor component is determined about robotic contact The information KE of measurement data and determination/estimation based on measurement data of event.Advantageously, sensor component is also according to robot Current state and/or current operation mode determine information KE.

Advantageously, contact information parameter include one or more of following parameter: power, torque, pressure, voltage, electric current, Position/face attached etc..

Advantageously, luminescent device controlled according to feedback information FI light intensity and/or photochromic and/or light intensity modulation and/or The quantity of the light source of the mode and/or luminescent device of the optical signal L (FI) of photochromic modulation and/or output." the optical signal of output Mode " arrangement that advantageously relate to the space of optical signal to be output, plane and/or at any time.Thus, for example shining The specific surface element of device can be in the optical signal of specific time output particular color.

The one favourable improvement scheme of this method is characterized in that converting unit provides identified information KE to reflection information The conversion of the feedback information FI of KE is as look-up table, to be converted by look-up table.

The one favourable improvement scheme of this method is characterized in that converting unit provides identified information KE to reflection information The conversion of the feedback information FI of KE is as function/algorithm.For entirely illustrating, above-mentioned term " reflection " should be by general geographical Solution is " depending on it ", that is, depends on information KE by the feedback information FI that conversion generates.

The one favourable improvement scheme of this method is characterized in that converting unit, which is executed, is categorized into class for identified information KE Not, wherein attach personalized feedback information FI to each classification.Be advantageously based on corresponding informance KE time history and/or Amplitude and/or frequency classify to information KE.

The one favourable improvement scheme of this method is characterized in that robot has the data-interface with data network, and Robot is set and is embodied as to load one or more control programs from data network.

The one favourable improvement scheme of this method is characterized in that robot loads the control about control program from data network System and adjustment parameter.

The one favourable improvement scheme of this method is characterized in that robot is by local input interface and/or passes through machine Control and adjustment parameter of the people by the teaching process load of manual guidance about existing control program local in robot.

The one favourable improvement scheme of this method is characterized in that, from data network to robot in control program and/or The load of affiliated control and adjustment parameter with the distant station of data network connection by equally controlling.

The one favourable improvement scheme of this method is characterized in that local existing control program is in robot with affiliated control System and adjustment parameter with the distant station of data network connection by equally starting.

By the suitable and similar conversion of the above-mentioned embodiment to robot according to the present invention, we can be obtained The advantages of method and the scheme that is advantageously improved and corresponding explaination.

Another aspect of the present invention relates to a kind of computer systems with data processing equipment, wherein data processing dress It sets and is configured to, so that method as described above is carried out on data processing equipment.

Another aspect of the present invention relates to a kind of digital storage medias with electronically readable control signal, wherein control Signal can cooperate with programmable computer system, so that implementing method as described above.

Another aspect of the present invention relates to a kind of computer program products, have the journey being stored in machine-readable carrier Sequence code, for executing method as described above when program code is implemented on data processing equipment.

Another aspect of the present invention relates to a kind of computer programs with program code, when the program is filled in data processing When setting operation, the program code is for executing method as described above.For this purpose, data processing equipment may be constructed such that it is existing Known any computer system in technology.

Detailed description of the invention

Other advantages, features, and details (refer to attached drawing) in detail wherein by obtaining in the following description when necessary At least one embodiment is described.The identical component of identical, similar and/or function is equipped with identical appended drawing reference.

Wherein:

Fig. 1 shows the height schematic view of the structure of proposed robot；

Fig. 2 shows the high-level schematic flow charts of the method proposed.

Specific embodiment

Fig. 1 shows the height schematic view of the structure of the robot with robotic manipulator, includes for true The system 101 of the fixed information KE about robotic manipulator and the mechanical type contact event of environment；For by identified information KE is converted into reflecting the converting unit 102 of the feedback information FI of information KE；And it is arranged in shining in robotic manipulator Device 103, to export the optical signal for depending on feedback information FI.System 101 particularly includes for detecting from external action The sensor of power and torque on to robotic manipulator.Converting unit 102 is especially configured to computing unit, wherein turns It changes and is correspondingly predetermined to be transition matrix.The light emitting diode of luminescent device 103 including at least three different colours as light source, The light emitting diode respectively will be in light feed-in optical conductor.Optical conductor is respectively in outlet side plane earth output light.Optical conductor it is defeated Decoupling position in side is disposed adjacent to one another on out.

Fig. 2 shows the high-level schematic flow charts of the method proposed for running robot, have follow steps: Determine the 201 information KE about the mechanical type contact event of machine human and environment；By identified information KE conversion 202 at reflection The feedback information FI of information KE；And by being arranged in robot, especially it is arranged on the robotic manipulator of robot On luminescent device output 203 depend on feedback information FI optical signals.

Although passing through preferred embodiment detailed illustration and illustrating the present invention, the present invention is not by disclosed exemplary It limits and those skilled in the art can therefrom derive other deformation schemes, without departing from protection scope of the present invention.Cause This is it is clear that there is a possibility that a large amount of modifications.It is also clear that the embodiment illustratively mentioned actually only is shown Example, these examples are not interpreted as example in any way to protection scope of the present invention, application possibility or the limit of configuration System.Exactly, above description and Detailed description of the invention enable the embodiment of the specific translation example of those skilled in the art, Wherein, those skilled in the art, such as can be each in exemplary implementation in the case where understanding disclosed invention design The function or arrangement aspect for the element mentioned in mode carry out various change, and without departing from protection scope, which passes through Claim and its illustrate such equivalent program largely for example in the description for example legally to limit.