Method for robot to intelligently avoid human under man-machine cooperation scene

A technology of robot intelligence and human-machine collaboration, applied in the direction of two-dimensional position/channel control, etc., can solve problems such as difficult to ensure real-time performance, limited technology application, and low recognition accuracy

Active Publication Date: 2015-12-09
SOUTH CHINA UNIV OF TECH
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AI Technical Summary

Problems solved by technology

However, traditional robot collision avoidance research is mainly on object collision avoidance. Unlike environmental objects, humans have their own structural characteristics, and the state and movement of the human body are also unpredictable. Therefore, robots need to recognize the human body in real time.
[0005] Before the appearance of Kinect, human body information collection technology based on multi-vision cameras was relatively popular, but this method requires perspective images, and the relative cost is relatively high
In the marker-ba

Method used

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  • Method for robot to intelligently avoid human under man-machine cooperation scene
  • Method for robot to intelligently avoid human under man-machine cooperation scene
  • Method for robot to intelligently avoid human under man-machine cooperation scene

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Embodiment Construction

[0051] The present invention will be further described below in conjunction with specific examples.

[0052] The robot intelligent avoiding human method in the human-machine collaboration scene described in this embodiment enables the operator to move freely in the robot workspace, and the robot actively avoids obstacles according to the operator's information obtained by Kinect. The system structure diagram is as follows figure 1 shown. The key of the inventive method is to construct the virtual robot model corresponding to the real man-machine collaboration scene and the operator model and the collision detection method of the robot model and the operator model, which comprises the following steps:

[0053] 1) Construct the robot cylinder model of the virtual scene through the robot D-H parameters, as follows:

[0054] Assuming that the robot is composed of a series of connecting rods and joints in any form, the D-H parameter represents the relationship between the robot jo...

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Abstract

The invention discloses a method for a robot to intelligently avoid human under a man-machine cooperation scene, comprising steps of constructing a robot column model of a simulation scene through robot D-H parameters, (2) obtaining RGB images of the real scene and skeleton data of an operator through Kinect, and constructing the column model of the simulation scene operator, 3) corresponding calibrations of the robot and the simulator in the real scene and the simulation scene , and 4) performing real-time detection collision of the robot model and the operator model. By using the method disclosed by the invention, the operator can freely move in the space where the robot operates, but the operator can avoid the obstacle according to the operator information obtained by the Kinect.

Description

technical field [0001] The present invention relates to the technical field of robot movement, in particular to a method for robots to intelligently avoid humans in a human-machine collaboration scene. Background technique [0002] The intersection and integration of intelligent robots and other fields have produced many scenarios that require the cooperation of humans and robots. Intelligent robots participate in the human working environment, and can effectively liberate human labor under the premise of ensuring work efficiency. In special cases, they can also replace human beings to complete high-risk tasks. In the context of close collaboration between humans and robots, how to ensure human safety is a crucial issue. This invention proposes a method for robot modeling and obstacle avoidance in a human-machine collaboration scenario. This method constructs a robot cylinder model based on the D-H parameters of the robot, and uses the Kinect sensor to collect the position ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 张平杜广龙金培根高鹏刘欣李备
Owner SOUTH CHINA UNIV OF TECH
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