首页> 外国专利> A process for the reduction of interference with the measurement during the operation of a collaborating industrial robot with a radar-based collision detection system as well as an industrial robot for carrying out the method

A process for the reduction of interference with the measurement during the operation of a collaborating industrial robot with a radar-based collision detection system as well as an industrial robot for carrying out the method

机译：减少具有基于雷达的碰撞检测系统的协作工业机器人的操作过程中对测量的干扰的方法以及用于执行该方法的工业机器人

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摘要

A process for the reduction of interference with the measurement during the operation of an industrial robot (1) with a radar-based collision detection system, wherein the industrial robot (1) at least one by a control device (2) controllable radar sensor (4.1), which possesses a transmitting device (6) comprising a excitation signal (s_4.1 to s_4.4) with a (t during a measurement cycle_{1_4} to t_{i _ 4}) changing transmission frequency (f_S4.1 to f_S4.4) and in which a receiving device (8), which has, within a predetermined measurement time duration (δt_m) after the start of the transmission of the excitation signal (s_4.1 to s_4.4) to receive a measurement signal (m_4.1 to m_4.4) is activated, the reception frequency (f_M4.1 to f_M4.4) within a predetermined frequency range (f_B4.1 to f_B4.4) around the transmitting frequency (f_S4.1 to f_S4.4) of the emitted excitation signal (s_4.1 to s_4.4) , the frequency range (f_B4.1 to f_B4.4) multiple times smaller than the transmission frequency (f_S4.1 to f_S4.4) in the excitation signal (s_4.1 to s_4.4), the invention is characterized in that the measurement cycles (t_{1_4} to t_{i _ 4}) in the course of a plurality of successive measuring intervals (i₁, I₂ , I₃) be carried out, which have a substantially constant interval, and in that the starting times (t_{1_4} to t_{i _ 4}) two successive measurement cycles (t_{1_4} to t_{i _ 4}) based on the time point of the start of a measuring interval (i₁, I₂ , I₃) in order to achieve a variable time offset (δt_{1_4} to δt_{i _ 4}) be varied. The present invention also relates to an industrial robot (1) for carrying out the method.n="30"

机译：一种在具有基于雷达的碰撞检测系统的工业机器人（1）的操作过程中减少测量干扰的方法，其中工业机器人（1）至少一个由控制装置（2）可控雷达传感器（ 4.1），它具有一个发射装置（6），该发射装置包括一个激励信号（s _{4.1 至s _{4.4 ），激励信号的测量周期为_{1_4 Sub>到t _{i _ 4 ）更改传输频率（f _{S4.1 到f _{S4.4 ），其中接收设备（ 8），在开始传输激励信号（s _{4.1 至s _{4.4 <后，在预定的测量持续时间内（δt_{m ） / Sub>）以接收测量信号（m _{4.1 至m _{4.4 ），接收频率（f _{M4.1 至f在发射频率（f _{）附近的预定频率范围（f _{B4.1 至f _{B4.4 ）中的_{M4.4 ） S4.1 4.1 至s _{4.4 ）的Sub>至f _{S4.4 ），频率范围（f _{B4.1 至f _{B4.4 ）的倍数小于传输频率（f _{S4.1 至f _{S4.4 >）在激励信号（s _{4.1 至s _{4.4 ）中，本发明的特征在于测量周期（t _{1_4 至t <在多个连续的测量间隔（i _{1 ，I _{2 ，I _{3 中）），它们之间的间隔基本恒定，并且开始时间（t _{1_4 至t _{i _ 4 ）两个连续的测量周期（t _{1_4 到t _{i _ 4 ）基于测量间隔（i _{1 ，I _{2 ）开始的时间点，为了达到可变的时间偏移量（δt_{1_4 至δt_{i _ 4 ），需要更改I _{3 。本发明还涉及一种用于执行该方法的工业机器人（1）。n=“ 30”}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}}

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公开/公告号DE102017100780A1

专利类型
公开/公告日2018-07-19

原文格式PDF
申请/专利权人 ABB SCHWEIZ AG;
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申请/专利号DE201710100780
发明设计人 MAXIMILIAN BERR;
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申请日2017-01-17
分类号G01S7/35;G01S13/34;G01S13/06;G01S7/40;
国家 DE
入库时间 2022-08-21 12:34:14

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