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Figure 2.Connections betweenall components for the safeenvironment
4.Conceptsofasafeenvironment
Acommonsafetyconcept(Concept1)usingsepa-
rate sensors ineach robot represents thestate-of-the-
art [1]. The total close-down of the factory (Concept
2) isanotheroption,butentrancesmustbemonitored
to guarantee that no human can enter the working
factory. People may only enter after switching the
factory to a collaborative mode or a safety stop. If
there were people working in the factory regularly, a
division of the factory into different segments (Con-
cept3)wouldbebetter. Onlysegments inwhichper-
sons are located have to work in collaborative mode,
making this concept more efficient. However, this
concept is not optimal with many people working in
it either. Consequently monitoring the whole envi-
ronmentwithactive (Concept4)orpassive (Concept
5) person detection is recommended. Workers have
toweara transmitterontheirbodyfor theactivevari-
antwhich isnot required in thepassivedetection.
5.ResultsandDiscussion
Safety-certified components are already existing
for the first three concepts, but not for active/passive
detection. However, the first concept by purchas-
ingsafety-certifiedcomponents foreachrobotwould
also be the most expensive concept. Active/passive
persondetectionalsorequiresvariouscomponents to
be installed throughout the factory. Only the second
and third concepts would require few sensors at the
zone entrances, making them very economical but
also inefficientwithahighvolumeofpeople.
Based on these facts and the emphasis on safety,
economy and performance, the third concept was
chosen for an implementation in the Digital Factory.
Of course, the optimal choice depends above all on
thesizeof theenvironmentandthenumberofrobots. 6.SummaryandOutlook
Based on these results a detailed safe environ-
mentimplementationfortheDigitalFactoryhasbeen
planned, where the safe communication (shown in
Figure 2) represents the centerpiece of the system:
Environmental sensors have thereby been connected
to inputs/outputs of a safety PLC, which is further
connected to the other safety PLCs via PROFIsafe
by PROFINET. However, already existing PLCs do
not had a PROFIsafe interface, which is why EFI-
gateways have been included. Furthermore special
DATAEAGLE modules are required for a safe wire-
less connection tomobile robots.
A realization of the safe environment is therefore
actually possible, but the safe environment concept
will probably only become a serious alternative with
the development of safety-certified components for
active/passivehumandetection.
References
[1] M.Arndt. SafeandCost-EfficientMobileRobotNav-
igation in Aware Environments. PhD thesis, Technis-
cheUniversita¨tKaiserslautern,2016.
[2] Automations Praxis. Mobile Robotik lo¨st lang-
wierigen Transport, 2017. [Online]. Available:
https://automationspraxis.industrie.de/servicerobotik
/mobile-robotik-loest-langwierigen-transport/ [Ac-
cessed: 29.12.2018].
[3] R. Siegwart and I. R. Nourbakhsh. Introduction to
Autonomous MobileRobots. MITPress,USA, 2004.
[4] M. Sullivan. Industry 4.0 Technologies: Global
Market Through 2023, 2018. [Online]. Avail-
able: https://www.bccresearch.com/market-
research/manufacturing/ [Accessed: 16.06.2019].
[5] B. Vogel-Heuser, T. Bauernhansl, and M. Ten Hom-
pel. Handbuch Industrie 4.0 Band 4, volume 2.
SpringerBerlinHeidelberg,Berlin,Heidelberg,2017.
5
Joint Austrian Computer Vision and Robotics Workshop 2020
- Title
- Joint Austrian Computer Vision and Robotics Workshop 2020
- Editor
- Graz University of Technology
- Location
- Graz
- Date
- 2020
- Language
- English
- License
- CC BY 4.0
- ISBN
- 978-3-85125-752-6
- Size
- 21.0 x 29.7 cm
- Pages
- 188
- Categories
- Informatik
- Technik