WO2025033944A1 - Method for evaluating and improving safety of robot - Google Patents

Abstract

A method for evaluating the safety of a robot, according to one aspect of the present invention, comprises the steps of: obtaining shape information and mass information of a test robot; obtaining motion profile information of the test robot; obtaining motion profile information of a person who may collide with the test robot; calculating a physical quantity acting on a collision object, by considering injury-risk shape information, mass information and motion profile information of the test robot; and evaluating the safety of the test robot by considering the calculated physical quantity and the likelihood of collision.

Description

Safety assessment of robots and methods for improving safety

The present invention relates to a safety evaluation and safety improvement method of a robot.

Recently, with the realization of high-performance test robots, various efforts are being made to maximize operating convenience and ensure safety by preventing collisions with workers during operation of test robots.

Since these test robots can be installed in the same workspace as humans, accidents due to collisions frequently occur during operation. Therefore, what is essential for test robots is motion precision and motion safety. Among these, in the case of motion precision, motor precision control technology has developed to reach a certain level, but in the case of motion safety, the technical perfection is very low compared to motion precision.

In particular, with the term safety emerging as a key topic in test robot systems recently, various studies are being conducted to improve the safety of test robots.

However, most of the safety evaluation methods for currently developed robots involve installing separate devices on actual test robots to measure collision pressure, collision force, and movement speed, which increases the evaluation cost.

In addition, during safety evaluation, the test robot repeatedly stopped and started more than necessary, which reduced work efficiency and put a strain on the test robot.

To solve these problems, a method was implemented to measure the collision force applied to the body according to the movement of the test robot. However, since the collision force was measured by applying a constant pressure regardless of the shape of the collision site of the test robot, there was a problem in that the accuracy of the safety evaluation was low.

The task of the present invention is to provide a safety evaluation method and a safety improvement method of a robot, which improve the accuracy of safety evaluation by calculating collision pressure and collision force applied to a worker according to the moving speed and moving path of each part considering the shape of a test robot, and determining whether the calculated values correspond to the International Organization for Standardization (ISO) standards.

According to one feature of the present invention for achieving the above-mentioned task, a safety evaluation method of a robot comprises the steps of: acquiring shape information and mass information of a test robot; acquiring motion profile information of the test robot; acquiring motion profile information of a person who may collide with the test robot; calculating a physical quantity applied to a collided body by considering the shape information, mass information, and motion profile information of the test robot that are at risk of causing injury; and evaluating the safety of the test robot by considering the calculated physical quantity and the possibility of collision.

In the above-described configuration, the test robot has at least one joint, the motion profile information of the test robot includes at least one of a position, a velocity, and an acceleration of the joint at a single or multiple points in time, the motion profile information of the person includes at least one of a current position, a velocity, and an acceleration or a predicted future position, a velocity, and an acceleration of the person, the calculated physical quantity includes at least one of a force, a pressure, an energy, and a contact time, and the step of evaluating the safety evaluates the safety by considering the calculated physical quantity and the possibility of collision and the size of the preset physical quantity.

The step of evaluating safety by considering the above-described calculated physical quantity and the possibility of collision and the size of the preset physical quantity comprises: a step of obtaining operation profile information of a human and a robot; a step of listing a plurality of candidate groups for a human to act; a step of calculating a probability for each of the above-described action candidate groups; a step of determining whether or not there is a collision by considering each of the above-described action candidate groups and the operation profile of the robot; a step of calculating the probability of each of the above-described action candidate groups, the presence or absence of collision, and the multiplication value of the above-described calculated physical quantity as an individual expected physical quantity; a step of calculating a total expected physical quantity by adding up all of the above-described individual expected physical quantities; and a step of evaluating safety by comparing the total expected physical quantity with the size of the preset physical quantity.

The above candidates for action are straight, right, and left.

Another aspect of the present invention provides a method for improving the safety of a robot, comprising: a step of acquiring shape information and mass information of a test robot; a step of acquiring motion profile information of the test robot; a step of acquiring motion profile information of a person who may collide with the test robot; a step of calculating a physical quantity applied to a collided body by considering the shape information, mass information, and motion profile information of the test robot that may cause injury; a step of evaluating the safety of the test robot by considering the calculated physical quantity and the possibility of collision; and a step of modifying the motion profile information or proposing a modified motion profile based on the evaluated safety.

In the above-described configuration, the test robot has at least one joint, and the motion profile information of the test robot includes at least one of a position, a velocity, and an acceleration of the joint at a single or multiple points in time, the motion profile information of the person includes at least one of a current position, a velocity, and an acceleration or a predicted future position, a velocity, and an acceleration of the person, and the calculated physical quantity includes at least one of a force, a pressure, an energy, and a contact time, and the step of evaluating the safety evaluates the safety by considering the calculated physical quantity and the possibility of collision and the size of the preset physical quantity, and the step of modifying the motion profile information or proposing a modified motion profile is provided to increase safety or productivity.

The step of evaluating safety by considering the above-described calculated physical quantity and the possibility of collision and the size of the preset physical quantity comprises: a step of obtaining operation profile information of a human and a robot; a step of listing a plurality of candidate groups for a human to act; a step of calculating a probability for each of the above-described action candidate groups; a step of determining whether or not there is a collision by considering each of the above-described action candidate groups and the operation profile of the robot; a step of calculating the probability of each of the above-described action candidate groups, the presence or absence of collision, and the multiplication value of the above-described calculated physical quantity as an individual expected physical quantity; a step of calculating a total expected physical quantity by adding up all of the above-described individual expected physical quantities; and a step of evaluating safety by comparing the total expected physical quantity with the size of the preset physical quantity.

The above candidates for action are straight, right, and left.

According to another feature of the present invention, a safety evaluation method of a robot comprises the steps of: acquiring shape information and mass information of a test robot; acquiring motion profile information of the test robot; acquiring motion profile information of a person who may collide with the test robot; calculating a physical quantity applied to a collided body by considering injury-causing risk shape information, mass information, motion profile information of the test robot, and motion profile information of the person; and evaluating the safety of the test robot by considering the magnitude of the calculated physical quantity.

In the above-described configuration, the test robot has at least one joint, the motion profile information of the test robot includes at least one of a position, a velocity, and an acceleration of the joint at a single or multiple points in time, the motion profile information of the person includes at least one of a current position, a velocity, and an acceleration or a predicted future position, a velocity, and an acceleration of the person, the calculated physical quantity includes at least one of a force, a pressure, an energy, and a contact time, and the step of evaluating the safety evaluates the safety by comparing the calculated physical quantity with a size of a preset physical quantity.

The step of calculating the total expected physical quantity applied to the colliding body by considering the injury-causing risk shape information, mass information, motion profile information, and human motion profile information of the test robot comprises the steps of: obtaining motion profile information of the human and the robot; listing a plurality of candidate groups in which the human will act; calculating a probability for each of the action candidate groups; calculating an individual collision physical quantity according to each of the action candidate groups and the motion profile of the robot; calculating the multiplication value of the probability of each of the action candidate groups and the individual collision physical quantity as an individual expected physical quantity; and calculating the total expected physical quantity by adding up all of the individual expected physical quantities.

The above candidates for action are straight, right, and left.

According to another feature of the present invention, a method for improving the safety of a robot comprises the steps of: acquiring shape information and mass information of a test robot; acquiring motion profile information of the test robot; acquiring motion profile information of a person who may collide with the test robot; calculating a physical quantity applied to a collided body by considering injury-causing risk shape information, mass information, motion profile information of the test robot, and motion profile information of the person; evaluating the safety of the test robot by considering the magnitude of the calculated physical quantity, and modifying the motion profile information or proposing a modified motion profile based on the evaluated safety.

In the above-described configuration, the test robot has at least one joint, and the motion profile information of the test robot includes at least one of a position, a velocity, and an acceleration of the joint at a single or multiple points in time, the motion profile information of the person includes at least one of a current position, a velocity, and an acceleration or a predicted future position, a velocity, and an acceleration of the person, and the calculated physical quantity includes at least one of a force, a pressure, an energy, and a contact time, and the step of evaluating the safety evaluates the safety by comparing the magnitude of the calculated physical quantity with a magnitude of a preset physical quantity, and the step of modifying the motion profile information or proposing a modified motion profile is provided to increase safety or productivity.

The step of calculating the physical quantity applied to the colliding body by considering the injury-causing risk shape information, mass information, motion profile information and human motion profile information of the test robot comprises the steps of: obtaining motion profile information of the human and the robot; listing a plurality of candidate groups in which the human will act; calculating a probability for each of the above-described action candidate groups; calculating an individual collision physical quantity according to each of the above-described action candidate groups and the motion profile of the robot; calculating the multiplication value of the probability of each of the above-described action candidate groups and the individual collision physical quantity as an individual expected physical quantity; and calculating a total expected physical quantity by adding up all of the above-described individual expected physical quantities.

The above candidates for action are straight, right, and left.

According to another feature of the present invention, a safety evaluation method of a robot comprises the steps of: acquiring shape information and mass information of a test robot; acquiring motion profile information of the test robot; setting spatial information of a person who may collide with the test robot; calculating a physical quantity applied to a collided body by considering the spatial information of the person, shape information, mass information, and motion profile information of a risk of injury inducing of the test robot, and evaluating the safety of the test robot by considering the magnitude of the calculated physical quantity.

In the above-described configuration, the test robot has at least one joint, and the motion profile information of the test robot includes at least one of the position, velocity, and acceleration of the joint at a single or multiple points in time, and the spatial information of the person is set to one or more of the following: a space of a specific fixed position, a space of a relative position with respect to the test robot, a space at a specific time, a space of a specific position detected by a sensor or a space of a position predicted by information of a sensor, a space including information on one or more body parts of the person, and a space including information on a specific direction or arbitrary direction that the person is looking at, and the calculated physical quantity includes at least one of force, pressure, energy, and contact time, and the step of evaluating the safety evaluates the safety by comparing the calculated physical quantity with a size of a preset physical quantity.

According to another feature of the present invention, a method for improving the safety of a robot comprises the steps of: acquiring shape information and mass information of a test robot; acquiring motion profile information of the test robot; setting spatial information of a person who may collide with the test robot; calculating a physical quantity applied to a collided body by considering the spatial information of the person, shape information, mass information, and motion profile information of a risk of injury inducing of the test robot; evaluating the safety of the test robot by considering the magnitude of the calculated physical quantity, and modifying the motion profile information or proposing a modified motion profile based on the evaluated safety.

In the above-described configuration, the test robot has at least one joint, and the motion profile information of the test robot includes at least one of the position, velocity, and acceleration of the joint at a single or multiple points in time, and the spatial information of the person is set to one or more of a space of a specific fixed position, a space of a relative position with respect to the test robot, a space at a specific time, a space of a specific position detected by a sensor or a space of a position predicted by information of a sensor, a space including information on one or more body parts of the person, and a space including information on a specific direction or arbitrary direction that the person is looking at, and the calculated physical quantity includes at least one of force, pressure, energy, and contact time, and the step of evaluating the safety compares the calculated physical quantity with the size of the preset physical quantity to evaluate the safety, and the step of modifying the motion profile information or proposing a modified motion profile is provided to increase safety or productivity.

According to the present invention, safety evaluation and safety improvement under various conditions and environments for a test robot can be expected.

Figure 1 is a flow chart of a method for improving the safety of a robot according to one embodiment of the present invention.

FIG. 2 is a flowchart for explaining a detailed process for setting the movement time and movement path of the test robot in FIG. 1.

Figure 3 is a schematic diagram illustrating a state in which an actual robot and a colliding object collide.

Figure 4 is a drawing showing changes in the surface of a colliding body in Figure 3 that collides with an actual robot.

Figure 5 is a drawing showing the three-dimensional shape of the test robot in Figure 1.

Figure 6 is a drawing showing the size of the contact pressure applied to the impacted body according to the shape of each part of the test robot.

Figure 7 is a drawing showing the values of collision pressure and collision force obtained through a 3D modeling program.

Figure 8 is a diagram showing the control status of a robot that maximizes productivity and safety through speed control.

Figure 9 is a drawing showing a state in which the path is modified by setting the joint angle to maximize safety.

FIG. 10 is a flowchart for explaining a safety evaluation method of a robot according to another embodiment of the present invention, and is a flowchart for explaining a safety evaluation method of a robot that takes into account the paths of a robot and a person.

FIG. 11 is a drawing for exemplarily explaining a process for evaluating safety by considering collision physical quantities and collision probability in the embodiment of FIG. 10.

FIG. 12 is a flowchart for explaining a safety evaluation method of a robot according to another embodiment of the present invention, and is a flowchart for explaining a safety evaluation method of a robot that takes into account the paths of a robot and a person.

Fig. 13 is a drawing for exemplarily explaining a process for evaluating safety by considering the size of the physical quantity calculated in the embodiment of Fig. 12.

FIG. 14 is a flowchart for explaining a safety evaluation method of a robot that takes human spatial information into account according to another embodiment of the present invention.

FIG. 15 is a drawing for exemplarily explaining a method for defining spatial information of a person in the embodiment of FIG. 14.

FIG. 16 is a drawing for exemplarily explaining a case of defining a specific fixed space in which a person is located in the embodiment of FIG. 14.

FIG. 17 is a drawing for exemplarily explaining a case of defining a relative space in which a person is located with respect to a robot in the embodiment of FIG. 14.

FIG. 18 is a drawing for exemplarily explaining a case of defining a space in which a person is located at a specific time for a robot in the embodiment of FIG. 14.

FIG. 19 is a drawing for exemplarily explaining the actual position of a person over time and the person area set by the sensor in the sensor detection range (space) for a fixed robot or a mobile robot in the embodiment of FIG. 14.

FIG. 20 is a drawing for exemplarily explaining a space in which one or more human body parts are positioned for a fixed robot or a mobile robot in the embodiment of FIG. 14.

FIG. 21 is a drawing for exemplarily explaining a case in which a space including information on a specific direction or arbitrary direction that a person is looking at is defined in the embodiment of FIG. 14.

Fig. 22 is a drawing for explaining a collision analysis process that takes into account the direction in which a person is looking in the embodiment of Fig. 14.

Hereinafter, preferred embodiments of the present invention will be described with reference to the attached drawings. However, the idea of the present invention is not limited to these embodiments, and may be proposed differently by addition, change, deletion, etc. of components forming the embodiments, but this is also included in the idea of the present invention.

FIG. 1 is a flowchart for a method for evaluating and improving the safety of a robot according to one embodiment of the present invention, and FIG. 2 is a flowchart for explaining a detailed process for a step of setting the movement time and movement path of a test robot in FIG. 1.

Fig. 3 is a drawing schematically illustrating a state in which an actual robot and a collided object collide, and Fig. 4 is a drawing illustrating surface changes of the collided object colliding with the actual robot in Fig. 3. Fig. 5 is a drawing illustrating a three-dimensional shape of the test robot in Fig. 1.

As illustrated in FIGS. 1 to 5, the method for improving the safety of a robot (S100) includes a step of obtaining a three-dimensional shape of a test robot (S110), a step of setting a moving time and a moving path of the test robot (S120), a step of evaluating the safety of the test robot at regular intervals (S130), a step of calculating a maximum speed of the test robot in which the magnitude of collision pressure and collision force falls within a preset allowable safety standard, and a step of resetting the moving time and the moving path of the test robot (S150).

In the step (S110) of acquiring a three-dimensional shape of the test robot, a three-dimensional image or a three-dimensional model of the test robot (10) including shape information of the actual robot (R) is acquired. Specifically, the test robot (10) may be formed as a three-dimensional image formed by inputting shape information of the robot (R) into a simulation program, or as a three-dimensional model formed through a three-dimensional measurement sensor. That is, the test robot (10) may be a three-dimensional image formed by inputting shape information of the actual robot (R) into a simulation program such as a CAE (Computer Aided Engineering) program, or as a three-dimensional model implemented through a three-dimensional measurement sensor and driven and controlled in the same way as the actual robot (R).

The type of robot (R) being 3D modeled is not limited, but may be a collaborative robot that jointly processes work in a certain work space. Such a collaborative robot may be formed as a manipulator equipped with a mechanical hand at the tip to grasp and transport a specific object or perform a specific task. In addition, the test robot (10) may be formed to have a degree of freedom that allows movement in at least one direction among the X-axis direction, the Y-axis direction, the Z-axis direction, the pitch direction, the yaw direction, and the roll direction. That is, the test robot (10) may be formed as a manipulator having at least one degree of freedom.

Specifically, the test robot (10) may be formed as a manipulator including at least two link parts (12) connected through joints (11) and an end effector (13) connected to one of the link parts (12). Here, the end effector is a part that has a function of directly acting on a work target when the test robot (10) performs a work, and may be, for example, a mechanical hand of the manipulator.

In the step (S120) of setting the movement time and movement path of the test robot, profile information including the movement time information and movement path information of the test robot (10) is input to set the movement time and movement path of the test robot (10). For example, if the test robot (10) is a three-dimensional image, the movement time and movement path of the test robot (10) can be set by inputting profile information including the movement time information and movement path information into the simulation program. If the test robot (10) is a three-dimensional model, the movement time and movement path of the test robot (10) can be set by inputting profile information including the movement time information and movement path information into the control system of the test robot (10). Here, since the method of controlling the operation of the test robot (10) through the simulation program and the control system of the robot is already a known technology, a detailed description thereof will be omitted.

In the step (S130) of evaluating the safety of the robot at regular intervals, the shape, effective mass, moving speed, and direction of the injury-causing risk area of the test robot (10) are taken into consideration to obtain the collision pressure (P) and collision force (force, F _C ) applied to the impacted body (20) at regular intervals, and the safety of the robot (R) is evaluated by determining whether the magnitude of the collision pressure and collision force obtained at regular intervals is within the magnitude of the preset maximum collision pressure (P _MAX ) and maximum collision force (F _MAX ).

Here, the preset maximum collision pressure (P _MAX ) and maximum collision force (F _MAX ) can be set to sizes according to the International Organization for Standardization (ISO) standards. The International Organization for Standardization (ISO) discloses the maximum allowable pressure and force that each part of the human body can withstand. Therefore, if the maximum collision pressure (P _MAX ) and maximum collision force (F _MAX ) are set based on these, the stability of the robot (R) can be further improved.

The reason for obtaining the collision pressure (P) and collision force (F _C ) applied to the colliding body (20) by dividing them into a certain time unit is to reduce the amount of data for calculating the collision pressure (P) and collision force (F _C ), thereby improving the calculation speed and preventing a load from being applied. Here, the time determined in a certain unit may vary depending on the shape of the robot (10). That is, the more complex the shape of the robot (10), the shorter the unit time may be.

Specifically, the collision force (F _C ) applied to the collided body (20) can be implemented through the following mathematical expression 1. Here, the collided body (20) can be a human, and the effective mass (M _i ) for the collision site of the test robot is calculated by the kinematic theory, and the effective mass (M _h ) for the collision site of the collided body can be input by the user and determined in advance. The displacement (y _i ) of the collision site of the test robot and the displacement (y _h ) of the collision site of the collided body can be obtained through the CAE system.

M _i : effective mass of the impact site of the test robot

M _h : effective mass of the impactor at the point of impact

F _C : Collision force

y _i : Displacement of the impact site of the test robot

y _h : Displacement of the impact site of the colliding body

And, the collision pressure (P) applied to the impacted body (20) can be implemented through the following mathematical expression 2. Here, the skin elasticity (K) of the impacted body and the skin thickness (h) of the impacted body can be input by the user through the CAE system and stored in advance.

δ: amount of skin deformation of the impactor,

α: Collision angle between the test robot and the impactor,

F _c : collision force, p : collision pressure,

K: skin elasticity of the impacted body, h: skin thickness of the impacted body,

x, y: collision plane coordinate system

The step of setting the movement time and movement path of the test robot (S120) may further include the step of setting an injury-risk area of the test robot (S121), the step of changing the posture of the test robot and calculating the collision pressure and collision force applied to the collided body, respectively (S122), the step of selecting and storing the minimum collision pressure and minimum collision force applied to the collided body (S123), and the step of changing the joint angle and moving the test robot (S124).

In the step (S121) of setting the risk of injury-causing parts of the test robot, the contact pressure applied to the impacted body (20) is calculated according to the shape of each part of the test robot (10), and at least one risk of injury-causing part of the test robot (10) is set using the calculated contact pressure value.

For example, if the test robot (10) is formed in a cylindrical shape, each part of the test robot (10) for setting the risk of injury may be a circumferential surface, an upper surface, a lower surface, an upper edge, and a lower edge. Then, the contact pressure applied to the impacted body (20) is calculated according to the shape of each part. Here, the method for calculating the contact pressure can be calculated through the relationship P=F/A (P: pressure, F: force, A: area).

Through this process, when the contact pressure for each part of the test robot (10) is calculated, the part with the largest value among the contact pressures or the part whose contact pressure exceeds a preset value can be selected as a part at risk of causing injury.

Meanwhile, the risk of injury-causing parts of the test robot (10) may be determined by one or more selections of the user. Specifically, the risk of injury-causing parts of the test robot (10) may be one or more selected from among the link part (12) and the end effector (13). In this way, if the risk of injury-causing parts of the test robot (10) are preset by the user, the step (S121) of setting the risk of injury-causing parts of the test robot may be omitted.

In the step (S122) of changing the posture of the test robot and calculating the collision pressure and collision force applied to the collided body, respectively, the joint angle of the test robot (10) is adjusted to change the posture of the link part (12) and the end effector (13), and the collision pressure (P) and collision force (F _C ) applied to the collided body (20) by the injury-causing risk area according to the change in posture are calculated, respectively.

The reason for calculating the collision pressure (P) and collision force (F _C ) applied to the collided body (20) by changing the posture of the robot (10) in this way is that the distance and contact area with the collided body (20) change depending on the change in posture of the link part (12) and the end effector (13), and as a result, the size of the collision pressure (P) and collision force (F _C ) applied to the collided body (20) also changes.

In the step (S123) of selecting and storing the minimum collision pressure and minimum collision force applied to the colliding body, the smallest values (hereinafter referred to as “minimum collision pressure (P _MIN ) and minimum collision force (F _MIN )”) among the collision pressure (P) and collision force (F _C ) obtained in the previous step (S122) are selected and stored. At this time, the obtained minimum collision pressure (P _MIN ) and minimum collision force (F _MIN ) can be selected and stored at regular intervals.

In the step (S124) of moving the test robot while changing the joint angle, the test robot (10) is moved while changing the joint (11) angle at regular intervals to an angle corresponding to the minimum collision pressure (P _MIN ) and the minimum collision force (F _MIN ).

In this way, by obtaining and storing the size of the minimum collision pressure (P _MIN ) and minimum collision force (F _MIN ) applied to the collided body (20) according to the change in the posture of the test robot (10), and then controlling the posture of the test robot (10) at regular intervals based on this, it becomes possible to implement a posture in which the minimum impact is applied to the collided body (20) even if the test robot (10) moves along the same movement speed and movement path.

In the step (S140) of calculating the maximum speed of the test robot so that the sizes of the collision pressure and the collision force fall within the preset allowable safety criteria, if the sizes of the collision pressure (P) and the collision force (F _C ) are greater than the sizes of the preset maximum collision pressure (P _MAX ) and maximum collision force (F _MAX ), the maximum speed that satisfies the sizes of the collision pressure (P) and the collision force (F _C ) of the maximum collision pressure (P _MAX ) and the maximum collision force (F _MAX ) is calculated. That is, if the safety of the robot (R) is not secured, the maximum speed is calculated so that the sizes of the collision pressure (P) and the collision force (F _C ) fall within the sizes of the maximum collision pressure (P _MAX ) and the maximum collision force (F _MAX ).

In the step (S150) of resetting the movement time and movement path of the test robot, the profile information is modified so that the test robot (10) can move at the maximum speed calculated in the previous step (S140) to reset the movement time and movement path of the test robot (10).

This is because the force applied to the impacted body (20) varies depending on the speed of the test robot (10). That is, if the moving speed is reduced, the force applied to the impacted body (20) is reduced, and as the force applied to the impacted body (20) is reduced, the pressure is also reduced. Therefore, if the profile information is modified so that the test robot (10) can move at the maximum speed calculated in the previous step (S140), it becomes possible to implement a robot that does not cause injury to the human body while the test robot (10) is moving at the maximum speed.

As described above, the method for improving the safety of a robot can be obtained by simulating the size of the collision pressure and collision force applied to the collision target by the test robot. Since such a test robot is formed as a three-dimensional model robot or a three-dimensional image robot having a shape and driving motion similar to that of an actual robot, it is not necessary to have a separate device for obtaining the collision pressure, collision force, movement speed, etc. applied to the actual robot as in the past, so that a safety evaluation can be performed at a low cost.

In addition, by calculating the contact pressure applied to the collided body according to the shape of each part of the test robot to select the injury-causing risk part, and calculating the collision pressure and collision force applied to the collided body at the selected injury-causing risk part, it is possible to obtain the collision pressure and collision force corresponding to the shape of the test robot. That is, in the past, since the collision pressure and collision force applied to the collided body were calculated by constantly applying the contact pressure regardless of the shape of the robot, there was a disadvantage in that the accuracy of the calculated values was low. However, by calculating the contact pressure applied to the collided body according to the shape of each part of the test robot as in the present invention and selecting the injury-causing risk part through this value, it is possible to obtain the collision pressure and collision force corresponding to the shape of the collision part of the test robot, and thus the accuracy can be improved.

In addition, if the size of the impact pressure and collision force applied to the colliding body does not satisfy the safety evaluation criteria of the test robot, the posture of the test robot is controlled at regular intervals so that the size of the collision pressure and collision force satisfies the safety evaluation criteria, thereby improving the safety of the robot.

In addition, if the magnitude of the impact pressure and collision force applied to the colliding body does not satisfy the safety evaluation criteria of the test robot, the speed of the test robot is controlled to the maximum so that the magnitude of the collision pressure and collision force satisfies the safety evaluation criteria, so that the robot can move along the same movement path at the maximum speed while improving safety.

Fig. 6 is a drawing showing the size of the contact pressure applied to the impacted body according to the shape of each part of the test robot, and Fig. 7 is a drawing showing the values of the collision pressure and the collision force obtained through a 3D modeling program. Fig. 8 is a drawing showing the control state of the robot that maximizes productivity and safety through speed control, and Fig. 9 is a drawing showing the state in which the path is modified by setting the joint angle to maximize safety.

The process of a method for improving the safety of a robot is explained as follows with reference to FIGS. 1 to 9.

First, the user inputs shape information of an actual robot (R) into a simulation program to obtain a three-dimensional image test robot, or obtains a three-dimensional model test robot through a three-dimensional measurement sensor. Here, the test robot (10) may be formed by a manipulator capable of moving in at least one direction among the X-axis direction, the Y-axis direction, the Z-axis direction, the pitch direction, the yaw direction, and the roll direction. That is, the test robot (10) may be a manipulator having one or more degrees of freedom.

Then, profile information including movement time information and movement path information is input into the simulation program or robot system to set the movement time and movement path of the test robot (10). Accordingly, the test robot (10) performs a simulation in which it moves along the set movement path for a certain period of time.

And, according to the shape of each part of the test robot (10), the contact pressure applied to the impacted body (20) is calculated, and at least one injury-causing risk part of the test robot (10) is set through the calculated contact pressure value. This is because, as illustrated in FIG. 6, the size of the contact pressure applied to the impacted body (20) varies depending on the shape of each part of the robot. Here, the injury-causing risk part may be either the part having the largest value among the calculated contact pressures or the part whose contact pressure exceeds the preset value, but in this embodiment, the end effector (13) and the link (12) are described as the injury-causing risk parts.

When the risk of injury-causing portion of the robot is set in this way, the collision pressure (P) and the collision force (F _C ) applied to the colliding body (20) are calculated by considering the effective mass, movement speed, and direction of the risk of injury-causing portion of the robot (10). Here, the values of the collision pressure (P) and the collision force (F _{C ) applied to the colliding body (20) from the end effector (13) and link (12), which are the risk of injury-causing portions, can be expressed as shown in Fig. 7, and the method of calculating the values of the collision pressure (P) and the collision force (F C )} is as described above, so it will be omitted.

Once the sizes of the collision pressure (P) and the collision force (F _C ) are determined in this way, it is determined whether the determined collision pressure (P) and the collision force (F _C ) fall within the sizes of the preset maximum collision pressure (P _MAX ) and maximum collision force (F _MAX ). In other words, if the sizes of the collision pressure (P) and the collision force (F _C ) fall within the sizes of the preset maximum collision pressure (P _MAX ) and maximum collision force (F _MAX ), the robot (R) is determined to be safe, and conversely, if the sizes of the collision pressure (P) and the collision force (FC) are greater than the sizes of the maximum collision pressure (P _MAX ) and maximum collision force (F _MAX ), the robot (R) is determined to be unsafe. Here, the sizes of the preset maximum collision pressure (P _MAX ) and maximum collision force (F _MAX ) can be configured as sizes according to the International Organization for Standardization (ISO) standards.

If the robot (R) is judged to be unsafe, the joint angles of the test robot (10) are adjusted so that the sizes of the collision pressure (P) and the collision force (F _C ) of the test robot (10) fall within the sizes of the preset maximum collision pressure (P _MAX ) and maximum collision force (F _MAX ), as shown in FIG. 9, thereby changing the posture of the link part (12) and the end effector (13).

And, if the robot (R) is judged to be unsafe, the maximum speed of the test robot (10) is calculated so that the sizes of the collision pressure (P) and the collision force (F _C ) of the test robot (10) are within the sizes of the preset maximum collision pressure (P _MAX ) and the maximum collision force (F _MAX ), and the calculated maximum speed is re-input into the profile to control the speed of the test robot (10) (above, prior art 1).

FIG. 10 is a flowchart for explaining a safety evaluation method of a robot according to another embodiment of the present invention, and is a flowchart for explaining a safety evaluation method of a robot that considers paths of a robot and a person. As illustrated in FIG. 10, the safety evaluation method of a robot according to the present embodiment includes a step of obtaining shape information and mass information of a test robot (S205), a step of obtaining motion profile information of the test robot (S210), a step of obtaining motion profile information of a person who has a possibility of collision with the test robot (S215), a step of calculating a physical quantity applied to a collided body by considering the shape information, mass information, and motion profile information of the test robot that are at risk of causing injury (S220), and a step of evaluating the safety of the test robot by considering the calculated physical quantity and the possibility of collision (S225).

Here, the test robot has at least one joint, and the motion profile information of the test robot includes at least one of a position, a velocity, and an acceleration of the joint at a single or multiple points in time, and the motion profile information of the person includes at least one of a current position, a velocity, and an acceleration, and a predicted future position, a velocity, and an acceleration of the person, and the calculated physical quantity includes at least one of a force, a pressure, an energy, and a contact time. The step of evaluating safety (S225) evaluates safety by considering the size of the calculated physical quantity and the possibility of collision.

A method for improving the safety of a robot according to another embodiment of the present invention further includes a step (S230) of modifying the motion profile information or proposing a modified motion profile based on the safety evaluated in step S225 of FIG. 10.

Here, the test robot has at least one joint, and the motion profile information of the test robot includes at least one of the position, velocity, and acceleration of the joint at a single or multiple points in time. The motion profile information of the person includes at least one of the current position, velocity, and acceleration of the person and the predicted future position, velocity, and acceleration, and the calculated physical quantity includes at least one of force, pressure, energy, and contact time. The step of evaluating safety (S225) evaluates safety by considering the size of the calculated physical quantity and the possibility of collision, and the step of modifying the motion profile information or proposing a modified motion profile (S230) is provided to increase safety or productivity.

Fig. 11 is a drawing for exemplarily explaining a process for evaluating safety by considering the physical quantity and collision probability calculated in the embodiment of Fig. 10. As shown in Fig. 11, the process of evaluating the safety of a robot by considering the collision physical quantity and collision probability and improving safety based on this consists of the following steps.

Step 1: Obtaining current human and robot motion profiles

Step 2: List multiple possible actions for the person to take (e.g. go straight, right, left)

Step 3: Calculate the probability for each action candidate in Step 2.

Step 4: Determine whether there is a collision by considering each action candidate from Step 2 and the robot's motion profile.

Step 5: Calculate the individual expected physical quantity by multiplying the probability of each action candidate group in Step 3 and the collision status and calculated physical quantity in Step 4.

Step 6: Add up the individual expected physical quantities from Step 5 to calculate the total expected physical quantity.

Step 7: Compare the total expected physical quantity from Step 6 with the allowable value.

Step 8: Modify the robot's motion profile or propose a modified motion profile so that the total expected physical quantity of Step 7 is less than the allowable value.

Meanwhile, the total expected physical quantity (E) = E1 + E2 + E3.

Referring to Figure 11, the total expected physical quantity (E) for human actions 1 to 3 is summarized as follows.

Individual expected physical quantity (E1) for human action 1 (move left) = collision probability of action 1 (P1) * collision status of action 1 * collision physical quantity of robot (C)

Individual expected physical quantity (E2) for human action 2 (move to the right) = collision probability of action 2 (P2) * collision status of action 2 * collision physical quantity of robot (C)

Individual expected physical quantity (E3) for human action 3 (going straight) = collision probability of action 3 (P3) * collision status of action 3 * collision physical quantity of robot (C)

In the preset robot motion profile of the embodiment of Fig. 11, the robot moves straight and its collision physical quantity (C) is 4. In this motion profile, the individual expected physical quantity (E1) when a person moves to the left is 0 (= 0.5*0*4) because no collision occurs, the individual expected physical quantity (E2) when moving to the right is 0.4 (= 0.1*1*4), and the individual expected physical quantity (E3) when moving straight is 1.6 (= 0.4*1*4), so the total expected physical quantity (E) is the sum of all individual expected physical quantities, which is 2.0 (= 0+0.4+1.6).

In this case, in step 7, which is the safety assessment step described above, the safety is evaluated by comparing the total expected physical quantity (E) with the allowable value, and if the total expected physical quantity (E) exceeds the allowable value, the preset motion profile of the robot is modified so that the total expected physical quantity (E) is less than the allowable value. For example, the robot's motion profile is modified so that the current straight path is modified to move to the right or to the left, and the total expected physical quantity (E) is calculated so that this value is within the allowable value. At this time, the robot's speed can be maintained or maximized.

FIG. 12 is a flowchart for explaining a safety evaluation method of a robot according to another embodiment of the present invention, and is a flowchart for explaining a safety evaluation method of a robot that considers paths of a robot and a person. As illustrated in FIG. 12, the safety evaluation method of a robot according to the present embodiment includes a step of obtaining shape information and mass information of a test robot (S250), a step of obtaining motion profile information of the test robot (S255), a step of obtaining motion profile information of a person who has a possibility of colliding with the test robot (S260), a step of calculating a physical quantity applied to a collided body by considering the shape information and mass information of the test robot that is at risk of causing injury, the motion profile information, and the motion profile information of the person (S265), and a step of evaluating the safety of the test robot by considering the magnitude of the calculated physical quantity (S270).

Here, the test robot has at least one joint, the motion profile information of the test robot includes at least one of a position, a velocity, and an acceleration of the joint at a single or multiple points in time, the motion profile information of the person includes at least one of a current position, a velocity, and an acceleration, and a predicted future position, a velocity, and an acceleration of the person, and the calculated physical quantity includes at least one of a force, a pressure, an energy, and a contact time. The step of evaluating safety (S270) evaluates safety by considering the size of the calculated physical quantity.

A method for improving the safety of a robot according to another embodiment of the present invention further includes a step (S275) of modifying the motion profile information or proposing a modified motion profile based on the safety evaluated in step S270 of FIG. 12.

Here, the test robot has at least one joint, and the motion profile information of the test robot includes at least one of the position, velocity, and acceleration of the joint at a single or multiple points in time. The motion profile information of the person includes at least one of the current position, velocity, and acceleration of the person and the predicted future position, velocity, and acceleration, and the calculated physical quantity includes at least one of force, pressure, energy, and contact time. The step of evaluating safety (S270) evaluates safety by considering the size of the calculated physical quantity, and the step of modifying the motion profile information or proposing a modified motion profile (S275) is provided to increase safety or productivity.

FIG. 13 is a diagram for exemplarily explaining a step of calculating a physical quantity applied to a collision target by considering the injury-causing risk shape information, mass information, motion profile information, and human motion profile information of a test robot in the embodiment of FIG. 12, and a process of evaluating safety by considering the size of the calculated physical quantity. As illustrated in FIG. 13, the process of calculating a physical quantity applied to a collision target by considering the injury-causing risk shape information, mass information, motion profile information, and human motion profile information, evaluating the safety of the robot by considering the size of the collision physical quantity, and improving safety based on the same, consists of the following steps.

Step 11: Obtaining current human and robot motion profiles

Step 12: List multiple possible actions for the person to take (e.g. go straight, right, left)

Step 13: Calculate the probability for each action candidate in Step 12.

Step 14: Calculate individual collision physics for each action candidate group and the robot's motion profile in Step 12.

Step 15: Multiply the probability of each action candidate group in Step 13 by the individual collision physical quantity in Step 14 to produce the individual expected physical quantity.

Step 16: Add up the individual expected physical quantities from Step 15 to produce the total expected physical quantity.

Step 17: Compare the total expected physical quantity from Step 16 with the allowable value.

Step 18: Modify the robot's motion profile or propose a modified motion profile so that the total expected physical quantity of Step 17 is less than the allowable value.

Meanwhile, the total expected physical quantity (E) = E1 + E2 + E3.

Referring to Figure 13, the total expected physical quantity (E) for human actions 1 to 3 is summarized as follows.

Individual expected physical quantity (E1) for human action 1 (move left) = probability of action 1 (P1) * individual collision physical quantity (C1) for action 1

Individual expected physical quantity for human action 2 (move right) (E2) = probability of action 2 (P2) * individual collision physical quantity for action 2 (C2)

Individual expected physical quantity (E3) for human action 3 (going straight) = probability of action 3 (P3) * individual collision physical quantity (C3) for action 3

In the embodiment of Fig. 13, in the preset robot motion profile, the robot is set to move straight. In this motion profile, the individual expected physical quantity (E1) when a person moves to the left is 0 (= 0.5*0) because no collision occurs, the individual expected physical quantity (E2) when moving to the right is 0.7 (= 0.1*7), and the individual expected physical quantity (E3) when moving straight is 1.2 (= 0.4*3), so the total expected physical quantity (E) is 1.9 (= 0+0.7+1.2), which is the sum of all individual expected physical quantities.

In this case, in step 17, which is the safety assessment step described above, the safety is evaluated by comparing the total expected physical quantity (E) with the allowable value, and if the total expected physical quantity (E) exceeds the allowable value, the preset motion profile of the robot is modified so that the total expected physical quantity (E) is less than the allowable value. For example, the robot's motion profile is modified so that the current straight path is modified to move to the right or to the left, and the total expected physical quantity (E) is calculated so that this value is within the allowable value. At this time, the robot's speed can be maintained or maximized.

FIG. 14 is a flowchart for explaining a safety evaluation method of a robot considering spatial information of a person according to another embodiment of the present invention. As illustrated in FIG. 14, the safety evaluation method according to the present embodiment includes a step of acquiring shape information and mass information of a test robot (S310), a step of acquiring motion profile information of the test robot (S320), a step of setting spatial information of a person who has a possibility of collision with the test robot (S330), a step of calculating a physical quantity applied to a collided body by considering the spatial information of the person, the shape information of the test robot that is at risk of causing injury, the mass information, and the motion profile information (S340), and a step of evaluating the safety of the test robot by considering the magnitude of the calculated physical quantity (S350).

Here, the test robot has at least one joint, and the motion profile information of the test robot includes at least one of the position, velocity, and acceleration of the joint at a single or multiple points in time.

The spatial information of a person is composed of one or more of a space of a specific fixed position, a space of a relative position with respect to a test robot, a space at a specific time, a space of a specific position detected by a sensor or a space of a position predicted by information from a sensor, a space including information on one or more body parts of a person, and a space including information on a specific direction or arbitrary direction in which the person is looking.

The generated physical quantity includes at least one of force, pressure, energy, and contact time, and in the step of evaluating safety (S350), safety is evaluated by comparing the size of the generated physical quantity with the preset physical quantity.

A method for improving robot safety according to another embodiment of the present invention further includes a step (S360) of modifying motion profile information or proposing a modified motion profile based on the safety evaluated in step S350 of the flow chart of FIG. 14, thereby improving the safety or productivity of the robot.

FIG. 15 is a drawing for exemplarily explaining a method for defining spatial information of a person in the embodiment of FIG. 14. As shown in (a) of FIG. 15, in the past, a person was defined as being in one fixed space and collision analysis was performed, whereas in this embodiment, instead of defining a person as being in a specific fixed space as shown in (b) of FIG. 15, a space in which a person can be (a grid display area in the drawing) is set, and then the person can be defined as existing at arbitrary or fixed intervals within the simulation area.

Meanwhile, human space can be defined by selecting one or more of the methods below.

1. Positioned in a specific fixed space: Fig. 16 defines a specific fixed space in which a person is positioned in this embodiment, for example, it exemplifies a case in which a person is positioned in a fixed space for a fixed robot. In this case, the spatial information in which the fixed robot and the person are positioned can be defined using an XY coordinate system.

2. Position in space relative to the robot: Fig. 17 defines the relative space in which a person is located relative to the robot in this embodiment, for example, it exemplifies a case in which the relative position of a mobile robot changes over time relative to a person located in a specific fixed space while moving. In this case, the relative space information in which the mobile robot and the person are located can be defined using the XY coordinate system.

3. Space at a specific time: Fig. 18 defines a space where a person is located at a specific time for a robot in this embodiment, for example, it shows a space where a person is located during a predetermined time A or a specific time B to C for a fixed robot. In this case, information on the space where the fixed robot and the person are located can be defined using an XY coordinate system.

4. Space of a specific location detected by a sensor or space of a location predicted by information of a sensor: Fig. 19 shows an example of the actual location of a person (see left) and the person area set by the sensor (see blue area on the right) over time in the sensor detection range (space) for a fixed robot or a mobile robot in this embodiment.

5. Space including information on one or more human body parts: FIG. 20 illustrates a space in which one or more human body parts, for example, the head, chest, or arm, are located for a fixed robot or a mobile robot in this embodiment. In this case, the space information in which the fixed robot or the mobile robot and the human body parts are located can be defined using an XY coordinate system.

6. Space including information on a specific direction or arbitrary direction that a person is looking at: FIG. 21 defines a space including information on a specific direction or arbitrary direction that a person is looking at in this embodiment. In the cases of examples 1 and 2, each person is looking at one direction, and in the case of example 3, each person is looking at an arbitrary direction. In this case, spatial information including the direction that a fixed robot or a mobile robot and a person are looking at can be defined using an XY coordinate system.

In this way, in this embodiment, the direction in which a person is looking can be set to a specific direction or an arbitrary direction, and this can be taken into consideration when analyzing collisions.

Fig. 22 is a diagram for explaining a collision analysis process that takes into account the direction in which a person is looking in this embodiment. As illustrated in Fig. 22, in this embodiment, when the angle between the moving direction of the robot and the direction in which the person is looking is q, the collision velocity in the frontal (normal) direction between the robot and the person is equal to V _n = V * cos(q), and the collision velocity in the grating (tangential) direction between the robot and the person is equal to V _s = V * sin(q).

As described above, while the present invention has been described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various modifications and changes may be made to the present invention without departing from the spirit and scope of the present invention as set forth in the claims below.

Claims (20)

Step of acquiring shape information and mass information of a test robot; Step of acquiring motion profile information of a test robot; A step of acquiring motion profile information of a person who may collide with a test robot; Step for calculating the physical quantity applied to the impacted body by considering the injury-causing risk shape information, mass information, and motion profile information of the test robot; and A method for evaluating the safety of a robot, comprising a step of evaluating the safety of a test robot by considering the above-described physical quantity and the possibility of collision. In claim 1, The test robot has at least one joint, The motion profile information of the test robot includes at least one of the position, velocity and acceleration of the joint at a single or multiple points in time. The human motion profile information includes at least one of the human's current position, velocity and acceleration or predicted future position, velocity and acceleration, The above-mentioned calculated physical quantity includes at least one of force, pressure, energy and contact time, The step of evaluating the above safety is a safety evaluation method of a robot that evaluates safety by considering the calculated physical quantity, the possibility of collision, and the size of the preset physical quantity. In claim 2, The step of evaluating safety by considering the above calculated physical quantity and the possibility of collision and the size of the preset physical quantity is as follows: Step of acquiring movement profile information of a person and a robot; A step in which a person lists multiple candidates for action; A step of calculating a probability for each of the above action candidates; A step of determining whether there is a collision by considering each of the above action candidates and the motion profile of the robot; A step of calculating the probability of each of the above action candidates, the collision status, and the odds of the calculated physical quantity as individual expected physical quantities; A step of calculating the total expected physical quantity by adding up all of the above individual expected physical quantities; A safety evaluation method for a robot, comprising a step of evaluating safety by comparing the above total expected physical quantity with the size of a preset physical quantity. In claim 3, The above action candidates are a safety assessment method for robots that move straight, right, and left. Step of acquiring shape information and mass information of a test robot; Step of acquiring motion profile information of a test robot; A step of acquiring motion profile information of a person who may collide with a test robot; A step of calculating a physical quantity applied to a colliding body by considering injury-causing risk shape information, mass information, and motion profile information of a test robot; Step for evaluating the safety of the test robot by considering the above calculated physical quantity and the possibility of collision; and A method for improving the safety of a robot, comprising a step of modifying motion profile information or proposing a modified motion profile based on the evaluated safety. In claim 5, The test robot has at least one joint, The motion profile information of the test robot includes at least one of the position, velocity and acceleration of the joint at a single or multiple points in time. The human motion profile information includes at least one of the human's current position, velocity and acceleration or predicted future position, velocity and acceleration, The above-mentioned calculated physical quantity includes at least one of force, pressure, energy and contact time, The step of evaluating the above safety evaluates safety by considering the calculated physical quantity, the possibility of collision, and the size of the preset physical quantity. A method for improving the safety of a robot equipped to increase safety or productivity, wherein the step of modifying the above motion profile information or proposing a modified motion profile is provided. In claim 6, The step of evaluating safety by considering the above calculated physical quantity and the possibility of collision and the size of the preset physical quantity is as follows: Step of acquiring movement profile information of a person and a robot; A step in which a person lists multiple candidates for action; A step of calculating a probability for each of the above action candidates; A step of determining whether there is a collision by considering each of the above action candidates and the motion profile of the robot; A step of calculating the probability of each of the above action candidates, the collision status, and the odds of the calculated physical quantity as individual expected physical quantities; A step of calculating the total expected physical quantity by adding up all of the above individual expected physical quantities; A method for improving the safety of a robot, comprising a step of evaluating safety by comparing the above total expected physical quantity with the size of a preset physical quantity. In claim 7, The above action candidates are methods for improving the safety of robots that move straight, right, and left. Step of acquiring shape information and mass information of a test robot; Step of acquiring motion profile information of a test robot; A step of acquiring motion profile information of a person who may collide with a test robot; A step for calculating the physical quantity applied to the impacted body by considering the injury-causing risk shape information, mass information, motion profile information, and human motion profile information of the test robot; and A method for evaluating the safety of a robot, comprising a step of evaluating the safety of a test robot by considering the size of the above-mentioned calculated physical quantity. In claim 9, The test robot has at least one joint, The motion profile information of the test robot includes at least one of the position, velocity and acceleration of the joint at a single or multiple points in time. The human motion profile information includes at least one of the human's current position, velocity and acceleration or predicted future position, velocity and acceleration, The above-mentioned calculated physical quantity includes at least one of force, pressure, energy and contact time, A method for evaluating the safety of a robot, wherein the step of evaluating the safety includes evaluating the safety by comparing the calculated physical quantity with the size of the preset physical quantity. In claim 9, The step of calculating the total expected physical quantity applied to the impacted body by considering the injury-causing risk shape information, mass information, motion profile information, and human motion profile information of the above test robot is as follows. Step of acquiring movement profile information of a person and a robot; A step in which a person lists multiple candidates for action; A step of calculating a probability for each of the above action candidates; A step of calculating individual collision physical quantities according to each of the above action candidates and the motion profile of the robot; A step of calculating the probability of each of the above action candidates and the odds of the individual collision physical quantities as individual expected physical quantities; A safety assessment method for a robot, comprising a step of calculating a total expected physical quantity by adding up all of the above individual expected physical quantities. In claim 11, The above action candidates are a safety assessment method for robots that move straight, right, and left. Step of acquiring shape information and mass information of a test robot; Step of acquiring motion profile information of a test robot; A step of acquiring motion profile information of a person who may collide with a test robot; A step of calculating a physical quantity applied to a colliding body by considering injury-causing risk shape information, mass information, motion profile information, and human motion profile information of a test robot; A step for evaluating the safety of the test robot by considering the size of the above-mentioned calculated physical quantity, and A method for improving the safety of a robot, comprising a step of modifying motion profile information or proposing a modified motion profile based on the evaluated safety. In claim 13, The test robot has at least one joint, The motion profile information of the test robot includes at least one of the position, velocity and acceleration of the joint at a single or multiple points in time. The human motion profile information includes at least one of the human's current position, velocity and acceleration or predicted future position, velocity and acceleration, The above-mentioned calculated physical quantity includes at least one of force, pressure, energy and contact time, The step of evaluating the above safety evaluates safety by comparing the calculated physical quantity with the size of the preset physical quantity. A method for improving the safety of a robot provided to increase safety or productivity, wherein the step of modifying the motion profile information or suggesting a modified motion profile is provided. In claim 13, The step of calculating the physical quantity applied to the impacted body by considering the injury-causing risk shape information, mass information, motion profile information and human motion profile information of the above test robot is as follows. Step of acquiring movement profile information of a person and a robot; A step in which a person lists multiple candidates for action; A step of calculating a probability for each of the above action candidates; A step of calculating individual collision physical quantities according to each of the above action candidates and the motion profile of the robot; A step of calculating the probability of each of the above action candidates and the odds of the individual collision physical quantities as individual expected physical quantities; A method for improving the safety of a robot, comprising a step of calculating a total expected physical quantity by adding up all of the above individual expected physical quantities. In claim 15, The above action candidates are methods for improving the safety of robots that move straight, right, and left. Step of acquiring shape information and mass information of a test robot; Step of obtaining motion profile information of a test robot; A step for setting spatial information of a person who may collide with a test robot; A step for calculating the physical quantity applied to the impacted body by considering the spatial information of the person, the injury-causing risk shape information of the test robot, the mass information, and the motion profile information. A method for evaluating the safety of a robot, comprising a step of evaluating the safety of the test robot by considering the size of the physical quantity calculated above. In claim 17, The test robot has at least one joint, The motion profile information of the test robot includes at least one of the position, velocity and acceleration of the joint at a single or multiple points in time. The spatial information of a person is set to one or more of a space of a specific fixed position, a space of a relative position with respect to a test robot, a space of a specific time, a space of a specific position detected by a sensor or a space of a position predicted by information of a sensor, a space including information on one or more body parts of a person, and a space including information on a specific direction or arbitrary direction from which the person is looking. The above-mentioned calculated physical quantity includes at least one of force, pressure, energy and contact time, The step of evaluating the above safety is a safety evaluation method of a robot in which safety is evaluated by comparing the calculated physical quantity with the size of a preset physical quantity. Step of acquiring shape information and mass information of a test robot; Step of obtaining motion profile information of a test robot; A step for setting spatial information of a person who may collide with a test robot; A step of calculating a physical quantity applied to a colliding body by considering the spatial information of a person, the injury-causing risk shape information of a test robot, mass information, and motion profile information; A step for evaluating the safety of the test robot by considering the size of the above-mentioned calculated physical quantity, and A method for improving the safety of a robot, comprising a step of modifying motion profile information or proposing a modified motion profile based on the evaluated safety. In claim 19, The test robot has at least one joint, The motion profile information of the test robot includes at least one of the position, velocity and acceleration of the joint at a single or multiple points in time. The spatial information of a person is set to one or more of a space of a specific fixed position, a space of a relative position with respect to a test robot, a space of a specific time, a space of a specific position detected by a sensor or a space of a position predicted by information of a sensor, a space including information on one or more body parts of a person, and a space including information on a specific direction or arbitrary direction from which the person is looking. The above-mentioned calculated physical quantity includes at least one of force, pressure, energy and contact time, The step of evaluating the above safety is to evaluate safety by comparing the calculated physical quantity with the size of the preset physical quantity. A method for improving the safety of a robot equipped to increase safety or productivity, wherein the step of modifying the above motion profile information or proposing a modified motion profile is provided.

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