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Obstacle avoidance method and obstacle avoidance system of mechanical arm

A technology of manipulators and obstacles, which is applied in the field of robots, can solve problems such as manipulator collisions, failure to recognize obstacles, and increased risk of obstacles, so as to reduce risks, improve safety and efficiency, and expand the range of obstacle recognition. Effect

Inactive Publication Date: 2016-10-12
INTEGRATION BEIJING TECH CO LTD
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AI Technical Summary

Problems solved by technology

[0003] However, due to the limitation of the viewing angle of the camera, there may be a visual blind spot when performing obstacle recognition or the obstacle may be blocked by the robotic arm during movement. greatly increased risk

Method used

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  • Obstacle avoidance method and obstacle avoidance system of mechanical arm
  • Obstacle avoidance method and obstacle avoidance system of mechanical arm
  • Obstacle avoidance method and obstacle avoidance system of mechanical arm

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Embodiment Construction

[0055] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0056]In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientation indicated by rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating o...

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Abstract

The invention discloses an obstacle avoidance method and an obstacle avoidance system of a mechanical arm. The obstacle avoidance method of the robotic arm includes the steps of: collecting image information of the obstacle, and collecting distance information between the robotic arm and the obstacle; analyzing the image information of the obstacle and the distance information to determine whether a new obstacle appears on the robot within the preset range of the robotic arm; if the new obstacle appears within the preset range of the robotic arm, re-plan the operating path of the robotic arm and control the movement of the robotic arm according to the re-planned operating path; if there is no new obstacle When an obstacle appears within the preset range of the robot arm, the robot arm is controlled to move on the original running path. The obstacle avoidance method of the above-mentioned mechanical arm judges whether there is a new obstacle by image information and distance information, which can solve the shortcomings of the blind area in the simple visual obstacle recognition method, expand the obstacle recognition range, and then effectively improve the obstacle recognition. The safety and efficiency of the robot reduce the risk of the robot colliding with obstacles.

Description

technical field [0001] The present invention relates to the field of robots, and more specifically, to an obstacle avoidance method and an obstacle avoidance system for a robot arm. Background technique [0002] In related technologies, the robotic arm may encounter obstacles during movement. At present, the methods for obstacle avoidance of manipulators mainly rely on vision algorithms. In the vision algorithm, the image is collected by the camera, and the image is analyzed to identify obstacles, and the movement path of the robotic arm is planned according to the identification result. [0003] However, due to the limitation of the viewing angle of the camera, there may be a visual blind spot when performing obstacle recognition or the obstacle may be blocked by the robotic arm during movement. The risks are greatly increased. Contents of the invention [0004] The present invention aims to solve at least one of the technical problems existing in the prior art. There...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1666B25J9/1697
Inventor 曾旭心刘志超
Owner INTEGRATION BEIJING TECH CO LTD
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