Robot collision avoiding method, device and system

A robot and collision avoidance technology, which is applied in the field of robots, can solve the problems of not being able to reflect the movement of the robot, and cannot well meet the needs of the robot environment, so as to achieve the effect of improving the efficiency of collision avoidance

Pending Publication Date: 2018-11-13
ROBERT BOSCH GMBH +1
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  • Abstract
  • Description
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Problems solved by technology

In this case, modeling the robot as a mass point for path planning does not reflect the real motion of the robot, which le...

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  • Robot collision avoiding method, device and system
  • Robot collision avoiding method, device and system
  • Robot collision avoiding method, device and system

Examples

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[0024] The subject matter described herein will now be discussed with reference to example implementations. It should be understood that the discussion of these implementations is only to enable those skilled in the art to better understand and realize the subject matter described herein, and is not intended to limit the protection scope, applicability or examples set forth in the claims. Changes may be made in the function and arrangement of elements discussed without departing from the scope of the disclosure. Various examples may omit, substitute, or add various procedures or components as needed. For example, the methods described may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with respect to some examples may also be combined in other examples.

[0025] As used herein, the term "comprising" and its variants represent open terms meaning "including but not limited to". The...

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Abstract

The invention provides a robot collision avoiding method, device and system. The method comprises determining one or more target positions on the scheduled path of a first robot to be scheduled and/ora second robot to be scheduled according to the following manner including, based on the current position of the robot to be scheduled which corresponds to a target position to be determined as wellas the corresponding minimum relative distance points on the first robot and the second robot, determining the target position through artificial potential fields, wherein the applied potential fieldsis composed of an attraction potential field of the current position and/or repulsion potential fields corresponding the minimum relative distance points, and when the current position does not coincide with the minimum relative distance points, the applied repulsion potential fields are acquired by transforming the repulsion potential fields of the minimum relative distance points. Therefore, bymeans of the robot collision avoiding method, collision avoiding path scheduling can well conform to a virtual robot environment and further improve the robot collision avoiding efficiency.

Description

technical field [0001] The present application relates generally to the field of robotics, and more particularly, to methods, apparatus and systems for robot collision avoidance. Background technique [0002] With the rise of the robotics industry, more and more industries have introduced industrial robots. In the field of industrial robots, in order to achieve greater work efficiency, the moving speed of the robot is usually relatively high, and it is easy to collide. Once a collision occurs, such as a collision between robots or a collision between a robot and a processing object (eg, a processed workpiece), damage to the robot or damage to the processing object may result. Therefore, for multi-robot systems, how to avoid robot collisions will be very important. [0003] In order to avoid robot collisions, in an existing anti-collision robot system, when multiple robots have overlapping work areas, only one robot is allowed to enter the overlapping work area each time, w...

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Application Information

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IPC IPC(8): G01C21/20G05D1/02
CPCG05D1/0289G01C21/20
Inventor 张伟张明亮苏畅P·帕特里克许剑锋丁汉
Owner ROBERT BOSCH GMBH
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