Method for dividing working area of robot

Abstract

The invention discloses a method for dividing a working area of a robot. The method comprises the following steps that the working area of the robot is defined, a plurality of separation interfaces are built in the working area by taking non-collinear three points, when the separation interfaces are built, the separation interfaces are mutually crossed to form separation lines, the separation lines divide the separation interfaces into punctuating section surfaces and extending section surfaces, the punctuating section surfaces are connected to form a full separation interface, the full separation interface divides the working area into two operation areas, and the operation area comprising an origin coordinate of the robot is selected as a moving area so as to simplify the dividing operation.

Description

technical field [0001] The invention relates to a robot, in particular to a human-machine collaborative industrial robot, which is a method for planning areas with different moving speeds according to the degree of danger of the operator in the robot working area. Background technique [0002] The robot has the characteristics of flexible movement, precise positioning and continuous operation. Although it has become the best tool for manufacturing and assembling on the product line, there are still operations that require human-machine collaboration. In human-machine cooperation, protecting the safety of workers has become the main problem of human-machine cooperation. [0003] In order to ensure the safety of the workers in the working area of ​​the robot, existing technologies such as US20160167231 usually use optical sensors or visual devices to set safety boundaries in the working area to delineate the working area. The robot will automatically reduce its moving speed i...

AI Technical Summary

Problems solved by technology

Although on the robot's workbench, different colors can clearly mark the work areas with different levels of danger, but the work area of ​​the robot is a three-dimensional space, and it is impossible to use color to delineate and mark the space interface of each work area

[0005] Therefore, some existing technologies directly use the coordinate system of the robot in the working area of ​​the robot to set the coordinates to mark the separation interface, designate different operating areas of the robot, and actively limit the moving speed of the robot entering each operating area.

However, the separate interfaces marked by one-to-one coordinates are not only too complicated to set up, but also because the actual relationship between the separated interfaces marked by visual coordinates and the working areas of the physical robot is impossible, the robot is often placed in the human-machine collaboration area. , or need to work across the human-machine collaboration area, so that the moving speed of the robot is limited, and it cannot move at an optimal speed, resulting in a reduction in the working efficiency of the robot

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