移动式机器人功能安全评估方法  

Functional Safety Evaluation Method of Mobile Robot

作　　者：熊文泽 陈向志 XIONG Wenze;CHEN Xiangzhi(Instrumentation Technology&Economy Institute,Beijing 100055,China;Guangdong Product Quality Supervision and Inspection Research Institute,Guangzhou 510330)

机构地区：[1]机械工业仪器仪表综合技术经济研究所,北京100055 [2]广东产品质量监督检验研究院,广州510330

出　　处：《自动化与仪器仪表》2024年第3期6-11,共6页Automation & Instrumentation

基　　金：国家重点研发计划项目:智能网联工业控制安全一体化增强技术研究与应用,项目编号:2021YFB2012300。

摘　　要：移动式机器人目前在各行各业逐渐得到越来越普遍的应用,在给物流传送等工作带来极大便利的同时,也面临着机器人应用所带来的新风险,包括机器人与人的碰撞,机器人失控导致传送物体损坏等问题,因此,机器人自身的安全可靠是保障其良好应用的前提,采用功能安全技术实现机器人的安全防护是当前机器人安全领域主流手段,从最新机器人应用功能安全标准ISO13849出发,研究了对移动式机器人开展功能安全评估的方法和流程,围绕性能等级(PL)这个核心的评价指标,分析了平均危险失效间隔、诊断覆盖率、类别的评价技术手段,并结合典型的机器人样机开展示例分析。Mobile robot has been used more and more widely in all walks of life.It brings great convenience to logistics and transportation,but also faces new risks brought by robot application,including the collision between robot and human,robot out of control leading to the damage of conveying objects,etc.Therefore,the safety and reliability of robot itself is the premise to ensure its good application.Using functional safety technology to realize the safety protection of robot is the mainstream means in the field of robot safety.Based on the latest functional safety standard of machine application ISO13849,this paper studies the method and process of functional safety evaluation for mobile robot.Focusing on the core evaluation index of performance level(PL),this paper analyzes the evaluation techniques of average dangerous failure interval,diagnostic coverage and category,and combined with the typical robot prototype,the example analysis is carried out.

关 键 词：移动式机器人 功能安全评估 性能等级 

分 类 号：TP668[自动化与计算机技术—控制理论与控制工程]