Industrial robot anti-collision early warning system and method based on digital grating projection

Abstract

The invention discloses an industrial robot anti-collision early warning system and method based on digital grating projection, the system comprising: a projector for projecting a digital grating downward, wherein the emitted projection grating can cover the entire production work area; a plurality of visual probes each of which is capable of acquiring a grating image and a grating-free image of the entire production work area; an anti-collision controller coupled to the projector and all the visual probes and used for controlling the projector to operate, reading and processing the image dataof all the visual probes to obtain a spatial positional relationship between a robot and a target in the production work area, and giving an alarm when the distance between the robot and the target is less than a safety distance. The system and method can effectively avoid the harm to an operator possibly generated by the robot, and has little influence on a production process, has good adaptability, and can be used in various forms of robot production environments.

Description

technical field [0001] The invention relates to an anti-collision early warning system for industrial robots, in particular to an anti-collision early warning system and method for industrial robots based on digital grating projection. Background technique [0002] In industrial production sites, when humans and robots work together, real-time safety protection for humans is crucial. At this time, real-time collision detection is required, and the collision can be avoided by controlling the operation mode of the robot. [0003] At present, there are several ways to monitor and protect human safety in the human-machine collaborative production environment: [0004] One is the method of setting a safe area: in the area and position where the robot is prone to collision, add an area limit to the robot's control program. Once the robot's manipulator enters the set area during operation, the robot will stop working immediately , to prevent hitting people. However, this solutio...

AI Technical Summary

Problems solved by technology

However, there are obvious problems of poor precision, occlusion, and low reliability when using monocular vision for anti-collision judgment in the robot workspace.

The use of binocular stereo vision for collision avoidance judgment also has limitations such as unreliable matching, slow speed, and long image processing time. The control strategy is relatively simple, which is not conducive to human-machine cooperation.

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