Obstacle avoidance detecting device of intelligent assembling robot

Abstract

The invention discloses an obstacle avoidance detecting device of an intelligent assembling robot, and the obstacle avoidance detecting device comprises two identical color sensors, the two identical color sensors are fixed inside a T-shaped bushing, an initial red-green-blue (RGB) measurement value of each color sensor is identical, and the T-shaped bushing is fixed on the intelligent assembling robot; and the obstacle avoidance detecting device also comprises a signal isolator and a controller; the controller adopts a parallel double-measurement method to judge whether the intelligent assembling robot stays on a critical position, when the intelligent assembling robot stays on the critical position, a delay detection method is adopted to enable the intelligent assembling robot to rapidly across the critical position, so that the mis-judgment problem caused by the influence of the critical position can be solved; and through the structure that the T-shaped bushing is fixedly connected with two sensors and the mean filter treatment, the measurement error caused by the vibration of the intelligent assembling robot in the movement process can be reduced. Due to the adoption of the obstacle avoidance detecting device of the intelligent assembling robot, the obstacle recognition and detection accuracy of the intelligent assembling robot can be improved.

Description

technical field [0001] The invention relates to an intelligent assembly robot, in particular to an obstacle avoidance detection device for an intelligent assembly robot. Background technique [0002] Intelligent assembly robot is the core equipment of flexible automatic assembly system, which is composed of robot manipulator, controller, end effector and sensing system. Among them, the structural types of the manipulator include horizontal joint type, rectangular coordinate type, multi-joint type and cylindrical coordinate type, etc.; the controller generally adopts multi-CPU or multi-level computer system to realize motion control and motion programming; the end effector is adapted to different The assembly object is designed into various claws and wrists, etc.; the sensing system is used to obtain the interaction information between the assembly robot, the environment and the assembly object. At present, most intelligent assembly robots use infrared sensors or color mark ...

AI Technical Summary

Problems solved by technology

At present, most intelligent assembly robots use infrared sensors or color mark sensors for obstacle recognition when running along the motion trajectory, but these sensors are usually single-threshold devices, which can usually distinguish two colors, but it is difficult to distinguish multiple colors.

Moreover, in the case where multiple colors need to be judged, the accuracy of obstacle recognition and detection is not high due to the fact that the critical state is many and complicated, and is affected by factors such as external interference and mechanical vibration.

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