Man-robot communion safety protection control system based on vision

Abstract

The invention discloses a man-robot communion safety protection control system based on vision. The man-robot communion safety protection control system based on the vision comprises a safety protection control unit, a vision tracking unit and a robot control unit. The safety protection control unit receives operator body skeleton data acquired by the vision tracking unit and joint position data fed back by the robot control unit, a safety protection model of a robot and an operator is established, the site behavior evolution at the next moment is forecasted according to a movement trail of the robot and the body skeleton data, the minimum distance between the robot and the operator is calculated on the basis of the protection model, and therefore collision forecasting is conducted, localpath planning and correction are conducted on collision which possibly happens, then the robot is controlled to respond to the collision which possibly happens in the man-robot collaboration process,and finally safety protection control in the man-robot collaboration process is achieved. The man-robot communion safety protection control system based on the vision is simple in structure and easy to engineer, and can provide safety protection of a three-dimensional space for man-robot collaboration.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a vision-based human-machine integration safety protection control system. Background technique [0002] Robots have the advantages of large load, fast response, and high precision. They are usually used to replace humans in repetitive, heavy or dangerous tasks, and have been widely used in various fields of industrial manufacturing. With the progress of sensors, artificial intelligence, automatic control and other disciplines and technologies, robots are gradually developing into intelligent equipment with perception, cognition and autonomous action capabilities. In particular, the concept of co-integrated robots has greatly enriched the tasks of robots. Connotation. The so-called co-integration robot refers to the fact that machines and humans share the same working space and production activities at the same time, using human beings' more direct cognition and highl...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the problem of human-machine cooperation safety protection in the assembly process of heavy-weight spacecraft equipment, the present invention proposes a vision-based human-machine fusion safety protection control system, which uses cylinders and balls as elements to establish a three-dimensional motion protection model for robots and humans. Obtain the current position and attitude information of the person through the visual tracking unit, use the Kalman filter technology to predict the movement of the human body, and realize the collision detection between the robot and the human body through the calculation method of the minimum distance between the space sphere and the cylinder, and carry out the possible collision detection Partial path planning and correction, and finally realize the active collision avoidance in the process of human-machine cooperation

[0006] The purpose of the present invention is to provide a vision-based human-machine fusion safety protection control system to solve the problem that traditional protection technologies are not applicable to fusion robots, so as to realize efficient and safe human-machine collaborative assembly operations of fusion robots

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