2019,48(7):1-4
DOI: 10. 3969 / j. issn. 1009-9492. 2019. 07. 001
周边智能化辅助实现的协作机器人速度与分离监控*
郭雪梅1，2，王国利1，2
（1.中山大学数据科学与计算学院， 广东广州510006；2.机器智能与先进计算教育部重点实验室， 广东广州510006）
摘要：安全是协作机器人应用的首要因素。为了防范人机协同操作时发生运动碰撞的风险，ISO/TS 15066提出了速度和分离监控（SSM）的人机最小间距保护机制。SSM需要面对高度非结构化和动态不确定性的协同操作场景，协作机器人自身难以有效应对由此带来的技术挑战。针对实现协作机器人SSM的需要，依照人机协作场景智能化的技术路线，分析了协作机器人速度与分离监控的技术难点问题，提出了辅助实现速度与分离监控的周边智能化架构，讨论了支配协作机器人安全适用状态演化的有限状态机模型，探讨了人机协作场景感知的设备无关技术。
关键词：协作机器人；速度和分离监控；人机协作；周边智能化；设备无关感知模式
中图分类号：TP24 文献标识码：A 文章编号：1009－9492 ( 2019 ) 07－0001－04
Ambient Intelligence Assisted Speed and Separation Monitoring for Collaborative Robots
GUO Xue-mei1，2，WANG Guo-li1，2
（1. School of Data and Computer Science， Sun Yat-sen University， Guangzhou 510006，China；
2. Key Laboratory of Machine Intelligence and Advanced Computing， Ministry of Education，Guangzhou 510006，China）
Abstract: Safety is the most crucial concern in the applications of collaborative robots. To prevent from the risk of human-robot collision in collaborative operations， the speed and separation monitoring (SSM) is proposed in ISO/TS 15066 for maintaining the minimum protective separation
distance between the human operator and robot systems. SSM will face with the challenges due to the highly unstructured scenarios with dynamic uncertainty in collaborative operations， which can not be addressed by a robot itself. The insight into technique challenges arising from the speed and
separation monitoring (SSM) for collaborative robots was presented. The concept of ambient intelligence (AmI) assisted SSM was proposed， in which two technical ingredients were discussed， one was the finite state machine used to model the safety mechanism of SSM， the other was the device-free sensing paradigm for triggering the safety state transitions of collaborative robots with SSM. The device-free sensing techniques were reported here in
the context of SSM as well.
Key words: collaborative robots； speed and separation monitoring； human-robot collaboration； ambient intelligence； device-free sensing paradigm