Safe robot palletizer controlling method based on three-dimensional image reconstruction

A palletizing robot and three-dimensional reconstruction technology, applied in the field of robot control, can solve problems such as not taking into account robots and high hardware costs

Inactive Publication Date: 2015-09-30
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Problems solved by technology

The disadvantage of the first method is that it must be judged that the robot has collided with other objects when the robot collides with other objects. At this time, it is too late to stop the robot from moving.
The disadvantage of the second method is that a lot of ultrasonic sensors need to be deployed on the robot, and the hardware cost is relatively high.
This approach will cause the robot to stop suddenly when it is working. At the same time, this method does not take into account that the robot may collide with other objects in the work area due to mechanical failure or other reasons during operation.

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  • Safe robot palletizer controlling method based on three-dimensional image reconstruction
  • Safe robot palletizer controlling method based on three-dimensional image reconstruction

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Embodiment Construction

[0025] The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

[0026] refer to figure 2 , the routine of this embodiment includes: a somatosensory 3D binocular vision sensor module, a three-dimensional reconstruction module based on image processing, a safety detection module, and a palletizing robot control system module. Among them, the somatosensory 3D vision sensor module is used to collect 3D information of the entire working environment at the operation site of the palletizing robot and send the information back to the 3D reconstruction module based on image processing. The module reconstructs the robot in 3D according to the image information. And the three-dimensiona...

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Abstract

The invention discloses a safe robot palletizer controlling method based on three-dimensional image reconstruction, and relates to a robot controlling method, in particular to a safe and efficient robot controlling method oriented to a robot palletizer. According to the method, a binocular camera is used for collecting visual information of a working environment of a robot, by means of the collected information, a virtual real-time three-dimensional environment graph is reconstructed, by analyzing the three-dimensional environment graph, at first, whether collision occurs in a working area of the robot is judged, if collision occurs, the robot is stopped immediately, and if no collision occurs, then whether an abnormal object enters the working area of the robot and whether collision will occur are judged. The method fully ensures the work safety of the robot palletizer and improves the working efficiency of the robot palletizer.

Description

technical field [0001] The invention relates to a robot control method, in particular to a safe and efficient robot control method for palletizing robots. Background technique [0002] As an automatic production tool for automatic stacking of goods in manufacturing factories, palletizing robots play an indispensable role in current production. Due to its high-speed and heavy-load characteristics, the palletizing robot also has an unsafe side during operation. Due to various reasons, the palletizing robot may collide with other objects in the working environment during operation. security phenomenon. The current methods to solve this problem are mainly: 1. Judging whether a collision currently occurs by detecting the overload information returned by the servo drive or the servo motor. 2. Deploy ultrasonic distance sensors on each part of the robot to measure whether there are other objects approaching each part of the robot within a certain range. The disadvantage of the f...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B65G61/00
CPCB65G61/00B65G2203/044
Inventor 李波戴骏贤
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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