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

An industrial robot, digital grating technology, applied in control/adjustment systems, instruments, two-dimensional position/channel control, etc., can solve the problems of single control strategy, low reliability, unfavorable human-machine collaboration, etc., and achieve strong adaptability. , the effect of avoiding harm

Active Publication Date: 2018-09-14
SHANGHAI JIAO TONG UNIV
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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 collisi

Method used

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

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Embodiment Construction

[0042] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0043] Such as figure 1 As shown, a schematic diagram of a preferred embodiment of an industrial robot anti-collision warning system based on digital raster projection, including: projector 1, visual probe 2, anti-collision controller 3, wherein:

[0044] The projector 1 is arranged at a certain position above the center of the robot 4 production area, its optical axis is in a vertical orientation, and projects a digital grating downward, and ensures that the projection grating emitted by the projector ...

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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...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0246
Inventor 陶卫赵辉吕娜刘沅秩何旺贵李智陈潇刘凯媚邹良旭
Owner SHANGHAI JIAO TONG UNIV
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